US8800838B2 - Robotically-controlled cable-based surgical end effectors - Google Patents

Robotically-controlled cable-based surgical end effectors Download PDF

Info

Publication number
US8800838B2
US8800838B2 US13/369,629 US201213369629A US8800838B2 US 8800838 B2 US8800838 B2 US 8800838B2 US 201213369629 A US201213369629 A US 201213369629A US 8800838 B2 US8800838 B2 US 8800838B2
Authority
US
United States
Prior art keywords
closure
anvil
tool
surgical
cable
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US13/369,629
Other versions
US20120138660A1 (en
Inventor
Frederick E. Shelton, IV
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cilag GmbH International
Original Assignee
Ethicon Endo Surgery Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/216,562 external-priority patent/US7669746B2/en
Priority claimed from US11/711,979 external-priority patent/US8317070B2/en
Priority claimed from US13/118,278 external-priority patent/US9237891B2/en
Priority to US13/369,629 priority Critical patent/US8800838B2/en
Application filed by Ethicon Endo Surgery Inc filed Critical Ethicon Endo Surgery Inc
Assigned to ETHICON ENDO-SURGERY, INC. reassignment ETHICON ENDO-SURGERY, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SHELTON, FREDERICK E., IV
Publication of US20120138660A1 publication Critical patent/US20120138660A1/en
Publication of US8800838B2 publication Critical patent/US8800838B2/en
Application granted granted Critical
Assigned to ETHICON ENDO-SURGERY, LLC reassignment ETHICON ENDO-SURGERY, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON ENDO-SURGERY, INC.
Assigned to ETHICON LLC reassignment ETHICON LLC CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON ENDO-SURGERY, LLC
Assigned to CILAG GMBH INTERNATIONAL reassignment CILAG GMBH INTERNATIONAL ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ETHICON LLC
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/11Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
    • A61B17/115Staplers for performing anastomosis in a single operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • A61B34/71Manipulators operated by drive cable mechanisms
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25CHAND-HELD NAILING OR STAPLING TOOLS; MANUALLY OPERATED PORTABLE STAPLING TOOLS
    • B25C5/00Manually operated portable stapling tools; Hand-held power-operated stapling tools; Staple feeding devices therefor
    • B25C5/02Manually operated portable stapling tools; Hand-held power-operated stapling tools; Staple feeding devices therefor with provision for bending the ends of the staples on to the work
    • B25C5/0285Hand-held stapling tools, e.g. manually operated, i.e. not resting on a working surface during operation
    • B25C5/0292Hand-held stapling tools, e.g. manually operated, i.e. not resting on a working surface during operation with the objects to be stapled together introduced perpendicularly to the longitudinal axis of the tool in an opening formed by an anvil and a plunger
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/064Surgical staples, i.e. penetrating the tissue
    • A61B17/0644Surgical staples, i.e. penetrating the tissue penetrating the tissue, deformable to closed position
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/3205Excision instruments
    • A61B17/32053Punch like cutting instruments, e.g. using a cylindrical or oval knife
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00115Electrical control of surgical instruments with audible or visual output
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017Electrical control of surgical instruments
    • A61B2017/00199Electrical control of surgical instruments with a console, e.g. a control panel with a display
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0023Surgical instruments, devices or methods, e.g. tourniquets disposable
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003Steerable
    • A61B2017/00318Steering mechanisms
    • A61B2017/00323Cables or rods
    • A61B2017/00327Cables or rods with actuating members moving in opposite directions
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473Distal part, e.g. tip or head
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00477Coupling
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00685Archimedes screw
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00734Aspects not otherwise provided for battery operated
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B2017/0688Packages or dispensers for surgical staplers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • A61B2017/07235Stapler heads containing different staples, e.g. staples of different shapes, sizes or materials
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • A61B2017/07242Stapler heads achieving different staple heights during the same shot, e.g. using an anvil anvil having different heights or staples of different sizes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • A61B2017/07257Stapler heads characterised by its anvil
    • A61B2017/07264Stapler heads characterised by its anvil characterised by its staple forming cavities, e.g. geometry or material
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • A61B2017/07271Stapler heads characterised by its cartridge
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B2017/07214Stapler heads
    • A61B2017/07278Stapler heads characterised by its sled or its staple holder
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28Surgical forceps
    • A61B17/29Forceps for use in minimally invasive surgery
    • A61B2017/2926Details of heads or jaws
    • A61B2017/2932Transmission of forces to jaw members
    • A61B2017/2943Toothed members, e.g. rack and pinion
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B2017/320052Guides for cutting instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/320068Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320069Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic for ablating tissue
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32Surgical cutting instruments
    • A61B17/320068Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • A61B2017/320071Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic with articulating means for working tip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08Accessories or related features not otherwise provided for
    • A61B2090/0807Indication means
    • A61B2090/0811Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • A61B50/36Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments for collecting or disposing of used articles

Definitions

  • the present invention relates in general to stapling instruments that are capable of applying lines of staples and, more particularly, to improvements relating to staple cartridges for use with surgical stapling instruments that are capable of applying lines of staples having differing formed staple heights to tissue while simultaneously cutting the tissue.
  • Surgical staplers have been used in the prior art to simultaneously make a longitudinal incision in tissue and apply lines of staples on opposing sides of the incision.
  • Such instruments commonly include a pair of cooperating jaw members that, if the instrument is intended for endoscopic or laparoscopic applications, are capable of passing through a cannula passageway.
  • One of the jaw members receives a staple cartridge having at least two laterally spaced rows of staples.
  • the other jaw member defines an anvil having staple-forming pockets aligned with the rows of staples in the cartridge.
  • the instrument includes a plurality of reciprocating wedges that, when driven distally, pass through openings in the staple cartridge and engage drivers supporting the staples to effect the firing of the staples toward the anvil.
  • the staples that are closest to the cut line Whenever a transsection of tissue is across an area of varied tissue composition, it would be advantageous for the staples that are closest to the cut line to have one formed height that is less than the formed height of those staples that are farthest from the cut line.
  • the rows of inside staples serve to provide a hemostatic barrier, while the outside rows of staples with larger formed heights provide a cinching effect where the tissue transitions from the tightly compressed hemostatic section to the non-compressed adjacent section.
  • 4,941,623 and 5,027,834 to Pruitt disclose surgical stapler and cartridge arrangements that employ staples that have different prong lengths to ultimately achieve lines of staples that have differing formed heights.
  • WO 2003/094747A1 discloses a surgical stapler and cartridge that has six rows of staples wherein the outer two rows of staples comprise staples that are larger than the staples employed in the inner two rows and middle rows of staples.
  • the present invention is directed to surgical stapling devices that are capable of producing staples of different formed lengths.
  • the inside rows of staples closest to the longitudinal incision line could have a formed height that is less than the formed height of the outer rows of staples. That way, the inside rows of staples may provide a hemostatic barrier, while the outside rows of staples with larger formed heights may provide a cinching effect where the tissue transitions from the tightly compressed hemostatic section to the non-compressed adjacent section.
  • the staple cartridge may have staple drivers of different heights to product staples having different formed lengths.
  • the staples driven by the shorter staple drivers would have longer formed lengths (assuming no other differences that would affect the formed heights of the staples).
  • the staple forming pockets in the anvil may have different depths. Staples formed in deeper pockets would tend to be longer than staples formed in shallow pockets.
  • some of the staple forming pockets may be formed in compliant material portions of the anvil. Staples formed in such pockets would tend to be longer than staples formed in a non-compliant (or less compliant) portion of the anvil.
  • the channel may have internal steps that would produce staples having different formed heights.
  • Staples formed with staple drivers starting at a lower step would have a longer formed length that stapled formed with staple drivers starting at a higher step.
  • staples with different wire diameters may be used. Thicker staples would tend to produce staples with longer formed lengths.
  • embodiments of the present invention are directed to staple pushers that can accommodate staples of varying wire thicknesses.
  • staples of differing materials could be used. Staples made of stronger, less compliant materials, would tend to produce longer formed staples.
  • the surgical stapling device may comprise a plurality of stacked wedge band sets.
  • Each stacked wedge band set may comprise a number of wedge bands stacked one on another.
  • the wedge bands may be actuated in succession in order to drive the staples in successive stages. That is, for example, in an embodiment having three wedge bands in a stack, the first wedge band may be actuated first to partially deploy the staples, the second wedge band in stack may be actuated next to begin to form the staples, and the third wedge band in the stack may be actuated last to finish the formation of the staples.
  • the heights of the stacks (corresponding to the cumulative height of the wedge bands in the stacks) may be different, for example.
  • the techniques used to create formed staples of different heights could be used in a variety of different surgical stapling devices.
  • the stapling devices could be devices that cut the clamped tissue or devices that include no cutting instrument.
  • the surgical staplers may be, for example, endocutters, open linear stapler devices, or circular staplers.
  • a staple cartridge for use with a stapling device that has a robotically controlled actuator that is selectively actuatable in an axial direction and an anvil portion that is selectively movable between open and closed positions.
  • the staple cartridge comprises a cartridge body that is supportable within the stapling device for selective confronting relationship with the anvil portion thereof when in a closed position.
  • the cartridge body is configured to axially receive a dynamic actuation member therein that is responsive to control motions applied thereto by the robotically controlled actuator.
  • At least one first staple driver is movably supported within the cartridge body for contact by the dynamic actuation member such that, as the dynamic actuation member is axially advanced through the cartridge body when a first control motion is applied thereto by the robotically controlled actuator, the first staple drivers are driven in a direction toward the anvil when the anvil is in the closed position.
  • Each first staple driver defines a first staple support cradle for supporting a staple thereon.
  • the first staple support cradle is located a first staple forming distance from a corresponding portion of the closed anvil.
  • At least one second staple driver is movably supported within the cartridge body for contact by the dynamic actuation member such that as the dynamic actuation member is axially advanced through the cartridge body, the second staple drivers are driven in the direction toward the closed anvil.
  • Each of the second staple drivers define a second staple support cradle for supporting another staple thereon.
  • the second staple support cradle is located a second staple forming distance from another portion of the closed anvil wherein the second staple forming distance differs from the first staple forming distance.
  • a surgical stapling device that includes a robotic system that is operable to produce a firing motion and a closing motion.
  • the device further includes an implement portion that is responsive to the firing and closing motions from the robotic system.
  • the implement portion includes an elongate channel that is operably coupled to a portion of the robotic system and is configured to support a staple cartridge therein.
  • An anvil is movably coupled to the elongate channel and has an anvil channel therein. The anvil is movable from an open position to a closed position upon application of the closing motion thereto from the robotic system.
  • Various embodiments further include a firing device that includes a distally presented cutting edge that is longitudinally movable within the elongate channel and the anvil from a starting position to an ending position upon application of the firing motion thereto from the robotic system.
  • the firing device has an upper portion for engaging the anvil channel and a lower portion for engaging the elongate channel during distal movement for firing.
  • Various forms of the staple cartridge comprise a cartridge body that is sized to be supported within the elongate channel.
  • the cartridge body has a longitudinally extending slot therein for receiving the firing device therein.
  • the cartridge body has a non-planar deck surface that is configured to confront a staple forming portion of the anvil that has staple forming pockets therein when the anvil is in the closed position.
  • a first plurality of inside staple drivers is axially aligned in a first row of inside staple drivers in a portion of the cartridge body that is adjacent a first side of the longitudinally extending slot.
  • a second plurality of inside staple drivers is axially aligned in a second row of inside staple drivers in another portion of the cartridge body that is adjacent a second side of the longitudinally extending slot.
  • the inside staple drivers are movably supported within the cartridge body for selective movement toward the anvil when the anvil is in a closed position.
  • Each inside staple driver defines a first staple support cradle for supporting a staple thereon.
  • Each first staple support cradle is located a first staple forming distance from a corresponding portion of the anvil when the anvil is in a closed position.
  • a first plurality of outside staple drivers is axially aligned in a first row of outside staple drivers that are adjacent to the first row of the inside staple drivers.
  • a second plurality of outside staple drivers is axially aligned in a second row of outside staple drivers and is adjacent to the second row of inside staple drivers.
  • Each of the outside staple drivers is movably supported within the cartridge body for selective driving movement toward the anvil when the anvil is in the closed position.
  • Each of the outside staple drivers define a second staple support cradle for supporting another staple thereon.
  • Each second staple support cradle is located a second staple forming distance from another corresponding portion of the anvil when the anvil is in the closed position. The second staple forming distance differs in magnitude from the first staple forming distance.
  • a wedge sled is supported within the cartridge body for driving contact by the firing device and actuating contact with the first and second pluralities of the inside staple drivers as well as the first and second pluralities of outside staple drivers such that, as the firing device moves within the elongated slot in the cartridge body in a first axial direction in response to the firing motion from the robotic system, the wedge sled drives each of the inside and outside drivers towards the anvil to bring the staples supported thereon into forming contact with the anvil when the anvil is in the closed position.
  • FIG. 1 depicts a partially cut away side elevation view of a surgical stapling and severing instrument in an open position according to various embodiments of the present invention
  • FIG. 2 depicts a cross-sectional side elevation detail view along the line 2 - 2 of FIG. 1 of an end effector of the surgical stapling and severing instrument according to various embodiments of the present invention
  • FIG. 3 depicts an enlarged side elevation view of the firing bar of the surgical stapling and severing instrument of FIG. 2 according to various embodiments of the present invention
  • FIG. 4 depicts an enlarged front view of the firing bar of the surgical stapling and severing instrument of FIG. 2 according to various embodiments of the present invention
  • FIG. 5 depicts a cross-sectional side elevation detail view of an alternative end effector for the surgical stapling and severing instrument of FIG. 1 , incorporating a firing bar that lacks a middle pin for preventing pinching of the end effector, according to various embodiments of the present invention
  • FIG. 6 depicts a side elevational view of a handle portion of a proximal end of the surgical stapling and severing instrument of FIG. 1 with a left side removed to expose interior parts in an unclamped, unfired (“start”) position according to various embodiments of the present invention
  • FIG. 7 depicts a perspective, exploded view of the handle portion of the proximal end of the surgical stapling and severing instrument of FIG. 1 according to various embodiments of the present invention
  • FIG. 8 depicts a side elevational view of the handle portion of the proximal end of the surgical stapling and severing instrument of FIG. 1 with the left side removed to expose interior parts in the closed (“clamped”) position according to various embodiments of the present invention
  • FIG. 9 depicts a side elevational view of the handle portion of proximal end of surgical stapling and severing instrument of FIG. 1 with the left side removed to expose interior parts in the stapled and severed (“fired”) position according to various embodiments of the present invention
  • FIG. 10 depicts a plan view of a staple cartridge installed in an end effector according to various embodiments of the present invention.
  • FIG. 11 is an enlarged plan view of a portion of a staple cartridge according to various embodiments of the present invention.
  • FIG. 12 is a side view of a staple that may be employed with various embodiments of the present invention.
  • FIG. 13 is a front elevational view of one inside double driver supporting two staples thereon according to various embodiments of the present invention.
  • FIG. 14 is a top view of the inside double driver and staples of FIG. 13 according to various embodiments of the present invention.
  • FIG. 14A is an elevational view of the inside double driver of FIG. 13 within a portion of a staple cartridge mounted in the end effector and also illustrating a corresponding portion of the anvil when in a closed position according to various embodiments of the present invention
  • FIG. 15 is a right side elevational view of the inside double driver and staples of FIGS. 13 and 14 according to various embodiments of the present invention.
  • FIG. 15A is another side elevational view of the inside double driver of FIG. 15 wherein corresponding portions of the cartridge tray and anvil are illustrated in broken lines to depict the relationships therebetween according to various embodiments of the present invention
  • FIG. 16 is a front elevational view of one outside single driver supporting a staple thereon according to various embodiments of the present invention.
  • FIG. 16A is another front view of the outside single driver of FIG. 16 with portions of the cartridge tray and anvil shown to illustrate the relationships therebetween according to various embodiments of the present invention
  • FIG. 17 is a top view of the outside single driver and staple of FIG. 16 according to various embodiments of the present invention.
  • FIG. 18 is an isometric exploded view of the implement portion of the surgical stapling and severing instrument of FIG. 1 according to various embodiments of the present invention
  • FIG. 19 is a section view taken along line 19 - 19 of FIG. 10 showing the cross-sectional relationship between the firing bar, elongate channel, wedge sled, staple drivers, staples and staple cartridge according to various embodiments of the present invention
  • FIG. 19A is another cross-sectional view of an end effector showing the cross-sectional relationship between the firing bar, elongate channel, wedge sled, staple drivers, staples, staple cartridge and anvil according to various embodiments of the present invention
  • FIG. 20 is a perspective view of one wedge sled according to various embodiments of the present invention.
  • FIG. 21 is a side elevational view of an inside sled cam of the wedge sled depicted in FIG. 20 according to various embodiments of the present invention.
  • FIG. 22 is a side elevational view of an outside sled cam of the wedge sled depicted in FIG. 20 according to various embodiments of the present invention.
  • FIG. 23 is an isometric view of the end effector at the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position with the cartridge largely removed exposing a single staple driver and a double staple driver as exemplary and the wedge sled in its start position against a middle pin of the firing bar according to various embodiments of the present invention;
  • FIG. 24 is an isometric view of the end effector at the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position exposing the staple cartridge and cutting edge of the firing bar according to various embodiments of the present invention
  • FIG. 25 is an isometric view of the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position with the staple cartridge completely removed and a portion of an elongate channel removed to expose a lowermost pin of the firing bar according to various embodiments of the present invention
  • FIG. 26 is a side elevation view in section showing a mechanical relationship between the anvil, elongate channel, and staple cartridge in the closed position of the surgical stapling and severing instrument of FIG. 1 , the section generally taken along lines 26 - 26 of FIG. 24 to expose wedge sled, staple drivers and staples but also depicting the firing bar along the longitudinal centerline according to various embodiments of the present invention;
  • FIG. 27 is a cross-sectional view of a portion of a staple cartridge wherein an outside cam of a wedge is adjacent to an outside single driver according to various embodiments of the present invention
  • FIG. 28 is a cross-sectional view of a portion of a staple cartridge wherein an outside cam of a wedge sled is engaging three outside single drivers according to various embodiments of the present invention
  • FIG. 29 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention.
  • FIG. 30 depicts a staple formed by one inside driver according to various embodiments of the present invention.
  • FIG. 31 depicts another staple formed by one outside driver according to various embodiments of the present invention.
  • FIG. 32 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention.
  • FIG. 33 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention.
  • FIG. 34 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention.
  • FIG. 35 is a side elevation section view of the surgical stapling and severing instrument of FIG. 1 taken along the longitudinal centerline of the end effector in a partially closed but unclamped position gripping tissue according to various embodiments of the present invention
  • FIG. 36 depicts a partially cut away side elevational view of the surgical stapling and severing instrument of FIG. 1 in the closed or clamped position according to various embodiments of the present invention
  • FIG. 37 depicts a side elevation view of the surgical stapling and severing instrument of FIG. 1 in the closed or clamped position with tissue properly compressed according to various embodiments of the present invention
  • FIG. 38 depicts a view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 1 in a partially fired position according to various embodiments of the present invention
  • FIG. 39 depicts a partially cut away side elevation view of the surgical stapling and severing instrument of FIG. 1 in a partially fired position according to various embodiments of the present invention
  • FIG. 40 depicts a view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 1 in a fully fired position according to various embodiments of the present invention
  • FIG. 41 is a partially cut-away side elevational view of the surgical stapling and severing instrument of FIG. 1 in a full fired position according to various embodiments of the present invention
  • FIGS. 42-44 depict aspects of an end effector having a sled with multiple sled cams where one sled cam is taller than another according to various embodiments of the present invention
  • FIG. 45 depicts aspects of an end effector with staple forming pockets having varying depths according to various embodiments of the present invention.
  • FIGS. 46-47 depict a double staple driver having staples of different pre-formation lengths according to various embodiments of the present invention.
  • FIG. 48 depicts a side-view of an end effector having a double staple driver having different staple driver heights according to various embodiments of the present invention
  • FIGS. 49-50 depict a side-view of an end effector having staple forming pockets of varying depths according to various embodiments of the present invention
  • FIGS. 51-62 depict aspects of a surgical stapling device having stacks of actuatable wedge bands according to various embodiments of the present invention
  • FIGS. 63-69 depict aspects of an open linear surgical stapling device according to various embodiments of the present invention.
  • FIGS. 70-77 depicts cross-sectional front views of an end effector according to various embodiments of the present invention.
  • FIGS. 78-83 depict staple drivers that can accommodate staple having different wire diameters according to various embodiments of the present invention.
  • FIGS. 84-89 depict a circular surgical stapling device according to various embodiments of the present invention.
  • FIGS. 90-95 depict another surgical stapling device according to embodiments of the present invention.
  • FIG. 96 is a perspective view of one robotic controller embodiment
  • FIG. 97 is a perspective view of one robotic surgical arm cart/manipulator of a robotic system operably supporting a plurality of surgical tool embodiments of the present invention
  • FIG. 98 is a side view of the robotic surgical arm cart/manipulator depicted in FIG. 97 ;
  • FIG. 99 is a perspective view of an exemplary cart structure with positioning linkages for operably supporting robotic manipulators that may be used with various surgical tool embodiments of the present invention
  • FIG. 100 is a perspective view of a surgical tool embodiment of the present invention.
  • FIG. 101 is an exploded assembly view of an adapter and tool holder arrangement for attaching various surgical tool embodiments to a robotic system
  • FIG. 102 is a side view of the adapter shown in FIG. 101 ;
  • FIG. 103 is a bottom view of the adapter shown in FIG. 101 ;
  • FIG. 104 is a top view of the adapter of FIGS. 101 and 102 ;
  • FIG. 105 is a partial bottom perspective view of the surgical tool embodiment of FIG. 100 ;
  • FIG. 106 is a partial exploded view of a portion of an articulatable surgical end effector embodiment of the present invention.
  • FIG. 107 is a perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
  • FIG. 108 is a rear perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
  • FIG. 109 is a front perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
  • FIG. 110 is a partial exploded perspective view of the surgical tool embodiment of FIG. 105 ;
  • FIG. 111 is a partial cross-sectional side view of the surgical tool embodiment of FIG. 105 ;
  • FIG. 112 is an enlarged cross-sectional view of a portion of the surgical tool depicted in FIG. 111 ;
  • FIG. 113 is an exploded perspective view of a portion of the tool mounting portion of the surgical tool embodiment depicted in FIG. 105 ;
  • FIG. 114 is an enlarged exploded perspective view of a portion of the tool mounting portion of FIG. 113 ;
  • FIG. 115 is a partial cross-sectional view of a portion of the elongated shaft assembly of the surgical tool of FIG. 105 ;
  • FIG. 116 is a side view of a half portion of a closure nut embodiment of a surgical tool embodiment of the present invention.
  • FIG. 117 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 118 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 117 with the anvil in the open position and the closure clutch assembly in a neutral position;
  • FIG. 119 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 118 with the clutch assembly engaged in a closure position;
  • FIG. 120 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 118 with the clutch assembly engaged in a firing position;
  • FIG. 121 is a top view of a portion of a tool mounting portion embodiment of the present invention.
  • FIG. 122 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 123 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 122 with the anvil in the open position;
  • FIG. 124 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 122 with the anvil in the closed position;
  • FIG. 125 is a perspective view of a closure drive nut and portion of a knife bar embodiment of the present invention.
  • FIG. 126 is a top view of another tool mounting portion embodiment of the present invention.
  • FIG. 127 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 128 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 127 with the anvil in the open position;
  • FIG. 129 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 128 with the anvil in the closed position;
  • FIG. 130 is a cross-sectional view of a mounting collar embodiment of a surgical tool embodiment of the present invention showing the knife bar and distal end portion of the closure drive shaft;
  • FIG. 131 is a cross-sectional view of the mounting collar embodiment of FIG. 130 ;
  • FIG. 132 is a top view of another tool mounting portion embodiment of another surgical tool embodiment of the present invention.
  • FIG. 132A is an exploded perspective view of a portion of a gear arrangement of another surgical tool embodiment of the present invention.
  • FIG. 132B is a cross-sectional perspective view of the gear arrangement shown in FIG. 132A ;
  • FIG. 133 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention employing a pressure sensor arrangement with the anvil in the open position;
  • FIG. 134 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 133 with the anvil in the closed position;
  • FIG. 135 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;
  • FIG. 136 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;
  • FIG. 137 is a side view of a portion of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section;
  • FIG. 138 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
  • FIG. 139 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
  • FIG. 140 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
  • FIG. 141 is an enlarged cross-sectional view of a portion of the end effector of FIG. 140 ;
  • FIG. 142 is another cross-sectional view of a portion of the end effector of FIGS. 140 and 141 ;
  • FIG. 143 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention with the anvil in the open position;
  • FIG. 144 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 143 ;
  • FIG. 145 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of FIGS. 143 and 144 with the anvil thereof in the closed position;
  • FIG. 146 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIGS. 143-145 ;
  • FIG. 147 is a top view of a tool mounting portion embodiment of a surgical tool embodiment of the present invention.
  • FIG. 148 is a perspective assembly view of another surgical tool embodiment of the present invention.
  • FIG. 149 is a front perspective view of a disposable loading unit arrangement that may be employed with various surgical tool embodiments of the present invention.
  • FIG. 150 is a rear perspective view of the disposable loading unit of FIG. 149 ;
  • FIG. 151 is a bottom perspective view of the disposable loading unit of FIGS. 149 and 150 ;
  • FIG. 152 is a bottom perspective view of another disposable loading unit embodiment that may be employed with various surgical tool embodiments of the present invention.
  • FIG. 153 is an exploded perspective view of a mounting portion of a disposable loading unit depicted in FIGS. 149-151 ;
  • FIG. 154 is a perspective view of a portion of a disposable loading unit and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention with the disposable loading unit in a first position;
  • FIG. 155 is another perspective view of a portion of the disposable loading unit and elongated shaft assembly of FIG. 154 with the disposable loading unit in a second position;
  • FIG. 156 is a cross-sectional view of a portion of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 154 and 154 ;
  • FIG. 157 is another cross-sectional view of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 154-156 ;
  • FIG. 158 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention.
  • FIG. 159 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention.
  • FIG. 160 is another partial exploded perspective view of the disposable loading unit embodiment and an elongated shaft assembly embodiment of FIG. 159 ;
  • FIG. 161 is a top view of another tool mounting portion embodiment of a surgical tool embodiment of the present invention.
  • FIG. 162 is a side view of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section and in relation to a robotic tool holder of a robotic system;
  • FIG. 163 is an exploded assembly view of a surgical end effector embodiment that may be used in connection with various surgical tool embodiments of the present invention
  • FIG. 164 is a side view of a portion of a cable-driven system for driving a cutting instrument employed in various surgical end effector embodiments of the present invention.
  • FIG. 165 is a top view of the cable-driven system and cutting instrument of FIG. 164 ;
  • FIG. 166 is a top view of a cable drive transmission embodiment of the present invention in a closure position
  • FIG. 167 is another top view of the cable drive transmission embodiment of FIG. 166 in a neutral position
  • FIG. 168 is another top view of the cable drive transmission embodiment of FIGS. 166 and 167 in a firing position
  • FIG. 169 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 166 ;
  • FIG. 170 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 167 ;
  • FIG. 171 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 168 ;
  • FIG. 172 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 173 is a side view of a portion of another cable-driven system embodiment for driving a cutting instrument employed in various surgical end effector embodiments of the present invention
  • FIG. 174 is a top view of the cable-driven system embodiment of FIG. 173 ;
  • FIG. 175 is a top view of a tool mounting portion embodiment of another surgical tool embodiment of the present invention.
  • FIG. 176 is a top cross-sectional view of another surgical tool embodiment of the present invention.
  • FIG. 177 is a cross-sectional view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention.
  • FIG. 178 is a cross-sectional end view of the surgical end effector of FIG. 177 taken along line 178 - 178 in FIG. 177 ;
  • FIG. 179 is a perspective view of the surgical end effector of FIGS. 177 and 178 with portions thereof shown in cross-section;
  • FIG. 180 is a side view of a portion of the surgical end effector of FIGS. 177-179 ;
  • FIG. 181 is a perspective view of a sled assembly embodiment of various surgical tool embodiments of the present invention.
  • FIG. 182 is a cross-sectional view of the sled assembly embodiment of FIG. 181 and a portion of the elongated channel of FIG. 180 ;
  • FIGS. 183-188 diagrammatically depict the sequential firing of staples in a surgical tool embodiment of the present invention
  • FIG. 189 is a partial perspective view of a portion of a surgical end effector embodiment of the present invention.
  • FIG. 190 is a partial cross-sectional perspective view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention.
  • FIG. 191 is another partial cross-sectional perspective view of the surgical end effector embodiment of FIG. 190 with a sled assembly axially advancing therethrough;
  • FIG. 192 is a perspective view of another sled assembly embodiment of another surgical tool embodiment of the present invention.
  • FIG. 193 is a partial top view of a portion of the surgical end effector embodiment depicted in FIGS. 190 and 191 with the sled assembly axially advancing therethrough;
  • FIG. 194 is another partial top view of the surgical end effector embodiment of FIG. 193 with the top surface of the surgical staple cartridge omitted for clarity;
  • FIG. 195 is a partial cross-sectional side view of a rotary driver embodiment and staple pusher embodiment of the surgical end effector depicted in FIGS. 190 and 191 ;
  • FIG. 196 is a perspective view of an automated reloading system embodiment of the present invention with a surgical end effector in extractive engagement with the extraction system thereof;
  • FIG. 197 is another perspective view of the automated reloading system embodiment depicted in FIG. 196 ;
  • FIG. 198 is a cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196 and 197 ;
  • FIG. 199 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196-198 with the extraction system thereof removing a spent surgical staple cartridge from the surgical end effector;
  • FIG. 200 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196-199 illustrating the loading of a new surgical staple cartridge into a surgical end effector;
  • FIG. 201 is a perspective view of another automated reloading system embodiment of the present invention with some components shown in cross-section;
  • FIG. 202 is an exploded perspective view of a portion of the automated reloading system embodiment of FIG. 201 ;
  • FIG. 203 is another exploded perspective view of the portion of the automated reloading system embodiment depicted in FIG. 202 ;
  • FIG. 204 is a cross-sectional elevational view of the automated reloading system embodiment of FIGS. 201-203 ;
  • FIG. 205 is a cross-sectional view of an orientation tube embodiment supporting a disposable loading unit therein;
  • FIG. 206 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 207 is a partial perspective view of an articulation joint embodiment of a surgical tool embodiment of the present invention.
  • FIG. 208 is a perspective view of a closure tube embodiment of a surgical tool embodiment of the present invention.
  • FIG. 209 is a perspective view of the closure tube embodiment of FIG. 208 assembled on the articulation joint embodiment of FIG. 207 ;
  • FIG. 210 is a top view of a portion of a tool mounting portion embodiment of a surgical tool embodiment of the present invention.
  • FIG. 211 is a perspective view of an articulation drive assembly embodiment employed in the tool mounting portion embodiment of FIG. 210 ;
  • FIG. 212 is a perspective view of another surgical tool embodiment of the present invention.
  • FIG. 213 is a perspective view of another surgical tool embodiment of the present invention.
  • FIGS. 1 and 2 depict one embodiment of a surgical stapling and severing instrument 10 that is capable of practicing the unique benefits of the present invention. It should be recognized, however, that the unique and novel aspects of the present invention may be advantageously employed in connection with a variety of other staplers and stapler instruments without departing from the spirit and scope of the present invention. Accordingly, the scope of protection afforded to the various embodiments of the present invention should not be limited to use only with the specific type of surgical stapling and severing instruments described herein.
  • the surgical stapling and severing instrument 10 incorporates an end effector 12 having an actuator or E-beam firing mechanism (“firing bar”) 14 that advantageously controls the spacing of the end effector 12 .
  • an elongate channel 16 and a pivotally translatable anvil 18 are maintained at a spacing that assures effective stapling and severing. The problems are avoided associated with varying amounts of tissue being captured in the end effector 12 .
  • proximal and distal are used herein with reference to a clinician gripping a handle of an instrument.
  • end effector 12 is distal with respect to the more proximal handle portion 20 .
  • spatial terms such as “vertical” and “horizontal” are used herein with respect to the drawings.
  • surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.
  • the surgical and stapling and severing instrument 10 includes a handle portion 20 that is connected to an implement portion 22 , the latter further comprising a shaft 23 distally terminating in the end effector 12 .
  • the handle portion 20 includes a pistol grip 24 toward which a closure trigger 26 is pivotally drawn by the clinician to cause clamping, or closing, of the anvil 18 toward the elongate channel 16 of the end effector 12 .
  • a firing trigger 28 is farther outboard of the closure trigger 26 and is pivotally drawn by the clinician to cause the stapling and severing of clamped tissue in the end effector 12 .
  • closure trigger 26 is actuated first. Once the clinician is satisfied with the positioning of the end effector 12 , the clinician may draw back the closure trigger 26 to its fully closed, locked position proximate to the pistol grip 24 . Then, the firing trigger 28 is actuated. The firing trigger 28 springedly returns when the clinician removes pressure. A release button 30 when depressed on the proximal end of the handle portion 20 releases any locked closure trigger 26 .
  • a closure sleeve 32 encloses a frame 34 , which in turn encloses a firing drive member 36 that is positioned by the firing trigger 28 .
  • the frame 34 connects the handle portion 20 to the end effector 12 .
  • the anvil 18 springedly opens, pivoting away from the elongate channel 16 and translating proximally with the closure sleeve 32 .
  • the elongate channel 16 receives a staple cartridge 37 .
  • the firing bar 14 includes three vertically spaced pins that control the spacing of the end effector 12 during firing.
  • an upper pin 38 is staged to enter an anvil pocket 40 near the pivot between the anvil 18 and elongate channel 16 .
  • the upper pin 38 advances distally within a longitudinal anvil slot 42 extending distally through anvil 18 . Any minor upward deflection in the anvil 18 is overcome by a downward force imparted by the upper pin 38 .
  • Firing bar 14 also includes a lowermost pin, or firing bar cap, 44 that upwardly engages a channel slot 45 in the elongate channel 16 , thereby cooperating with the upper pin 38 to draw the anvil 18 and the elongate channel 16 slightly closer together in the event of excess tissue clamped therebetween.
  • the firing bar 14 advantageously includes a middle pin 46 that passes through a firing drive slot 47 formed in a lower surface of the cartridge 300 and an upward surface of the elongate channel 16 , thereby driving the staples therein as described below.
  • the middle pin 46 by sliding against the elongate channel 16 , advantageously resists any tendency for the end effector 12 to be pinched shut at its distal end.
  • FIG. 5 depicts an alternative end effector 12 ′ that lacks a middle pin on a firing bar 14 ′. In this depiction, the end effector 12 ′ is allowed to pinch shut at its distal end, which tends to impair desired staple formation.
  • a distally presented cutting edge 48 between the upper and middle pins 38 , 46 on the firing bar 14 traverses through a proximally presented, vertical slot 49 in the cartridge 37 to sever clamped tissue.
  • the affirmative positioning of the firing bar 14 with regard to the elongate channel 16 and anvil 18 assure that an effective cut is performed.
  • the affirmative vertical spacing provided by the E-Beam firing bar 14 is suitable for the limited size available for endoscopic devices.
  • the E-Beam firing bar 14 enables fabrication of an anvil 15 with a camber imparting a vertical deflection at its distal end, similar to the position depicted in FIG. 5 . This cambered anvil 15 advantageously assists in achieving the desired gap in the end effector 12 even with an anvil 15 having a reduced thickness, which may be more suited to the size limitations of an endoscopic device.
  • the handle portion 20 is comprised of first and second base sections 50 and 52 , which are molded from a polymeric material such as a glass-filled polycarbonate.
  • the first base section 50 is provided with a plurality of cylindrically-shaped pins 54 .
  • the second base section 52 includes a plurality of extending members 56 , each having a hexagonal-shaped opening 58 .
  • the cylindrically-shaped pins 54 are received within the hexagonal-shaped openings 58 and are frictionally held therein for maintaining the first and second base sections 50 and 52 in assembly.
  • a rotating knob 60 has a bore 62 extending completely through it for engaging and rotating the implement portion 22 about its longitudinal axis.
  • the rotating knob 60 includes an inwardly protruding boss 64 extending along at least a portion of the bore 62 .
  • the protruding boss 64 is received within a longitudinal slot 66 formed at a proximal portion of the closure sleeve 32 such that rotation of the rotating knob 60 effects rotation of the closure sleeve 32 .
  • the boss 64 further extends through frame 34 and into contact with a portion of the firing drive member 36 to effect their rotation as well.
  • the end effector 12 (not shown in FIGS. 6-9 ) rotates with the rotating knob 60 .
  • a proximal end 68 of the frame 34 passes proximally through the rotating knob 60 and is provided with a circumferential notch 70 that is engaged by opposing channel securement members 72 extending respectively from the base sections 50 and 52 . Only the channel securement member 72 of the second base section 52 is shown.
  • the channel securement members 72 extending from the base sections 50 , 52 serve to secure the frame 34 to the handle portion 20 such that the frame 34 does not move longitudinally relative to the handle portion 20 .
  • the closure trigger 26 has a handle section 74 , a gear segment section 76 , and an intermediate section 78 .
  • a bore 80 extends through the intermediate section 78 .
  • a cylindrical support member 82 extending from the second base section 52 passes through the bore 80 for pivotably mounting the closure trigger 26 on the handle portion 20 .
  • a second cylindrical support member 83 extending from the second base section 52 passes through a bore 81 of firing trigger 28 for pivotally mounting on the handle portion 20 .
  • a hexagonal opening 84 is provided in the cylindrical support member 83 for receiving a securement pin (not shown) extending from the first base section 50 .
  • a closure yoke 86 is housed within the handle portion 20 for reciprocating movement therein and serves to transfer motion from the closure trigger 26 to the closure sleeve 32 .
  • Support members 88 extending from the second base section 52 and securement member 72 , which extends through a recess 89 in the yoke 86 , support the yoke 86 within the handle portion 20 .
  • a proximal end 90 of the closure sleeve 32 is provided with a flange 92 that is snap-fitted into a receiving recess 94 formed in a distal end 96 of the yoke 86 .
  • a proximal end 98 of the yoke 86 has a gear rack 100 that is engaged by the gear segment section 76 of the closure trigger 26 .
  • the closure trigger 26 is forward biased to an open position by a front surface 130 interacting with an engaging surface 128 of the firing trigger 28 .
  • Clamp first hook 104 that pivots top to rear in the handle portion 20 about a pin 106 restrains movement of the firing trigger 28 toward the pistol grip 24 until the closure trigger 26 is clamped to its closed position.
  • Hook 104 restrains firing trigger 28 motion by engaging a lockout pin 107 in firing trigger 28 .
  • the hook 104 is also in contact with the closure trigger 26 .
  • a forward projection 108 of the hook 104 engages a member 110 on the intermediate section 78 of the closure trigger 26 , the member 100 being outward of the bore 80 toward the handle section 74 .
  • Hook 104 is biased toward contact with member 110 of the closure trigger 26 and engagement with lockout pin 107 in firing trigger 28 by a release spring 112 .
  • the hook 104 is moved top to rear, compressing the release spring 112 that is captured between a rearward projection 114 on the hook 104 and a forward projection 116 on the release button 30 .
  • an upper latch arm 118 of the release button 30 moves along an upper surface 120 on the yoke 86 until dropping into an upwardly presented recess 122 in a proximal, lower portion of the yoke 86 .
  • the release spring 112 urges the release button 30 outward, which pivots the upper latch arm 118 downwardly into engagement with the upwardly presented recess 122 , thereby locking the closure trigger 26 in a tissue clamping position, such as depicted in FIG. 8 .
  • the latch arm 118 can be moved out of the recess 122 to release the anvil 18 by pushing the release button 30 inward. Specifically, the upper latch arm 118 pivots upward about pin 123 of the second base section 52 . The yoke 86 is then permitted to move proximally in response to return movement of the closure trigger 26 .
  • a firing trigger return spring 124 is located within the handle portion 20 with one end attached to pin 106 of the second base section 52 and the other end attached to a pin 126 on the firing trigger 28 .
  • the firing return spring 124 applies a return force to the pin 126 for biasing the firing trigger 28 in a direction away from the pistol grip 24 of the handle portion 20 .
  • the closure trigger 26 is also biased away from pistol grip 24 by engaging surface 128 of firing trigger 28 biasing front surface 130 of closure trigger 26 .
  • the closure trigger 26 As the closure trigger 26 is moved toward the pistol grip 24 , its front surface 130 engages with the engaging surface 128 on the firing trigger 28 causing the firing trigger 28 to move to its “firing” position. When in its firing position, the firing trigger 28 is located at an angle of approximately 45° to the pistol grip 24 . After staple firing, the spring 124 causes the firing trigger 28 to return to its initial position. During the return movement of the firing trigger 28 , its engaging surface 128 pushes against the front surface 130 of the closure trigger 26 causing the closure trigger 26 to return to its initial position. A stop member 132 extends from the second base section 52 to prevent the closure trigger 26 from rotating beyond its initial position.
  • the surgical stapling and severing instrument 10 additionally includes a reciprocating section 134 , a multiplier 136 and a drive member 138 .
  • the reciprocating section 134 comprises a wedge sled in the implement portion 22 (not shown in FIGS. 6-9 ) and a metal drive rod 140 .
  • the drive member 138 includes first and second gear racks 141 and 142 .
  • a first notch 144 is provided on the drive member 138 intermediate the first and second gear racks 141 , 142 .
  • a tooth 146 on the firing trigger 28 engages with the first notch 144 for returning the drive member 138 to its initial position after staple firing.
  • a second notch 148 is located at a proximal end of the metal drive rod 140 for locking the metal drive rod 140 to the upper latch arm 118 of the release button 30 in its unfired position.
  • the multiplier 136 comprises first and second integral pinion gears 150 and 152 .
  • the first integral pinion gear 150 is engaged with a first gear rack 154 provided on the metal drive rod 140 .
  • the second integral pinion gear 152 is engaged with the first gear rack 141 on the drive member 138 .
  • the first integral pinion gear 150 has a first diameter and the second integral pinion gear 152 has a second diameter which is smaller than the first diameter.
  • FIGS. 6 , 8 and 9 depict respectively the handle portion 20 in the start position (open and unfired), a clamped position (closed and unfired) and a fired position.
  • the firing trigger 28 is provided with a gear segment section 156 .
  • the gear segment section 156 engages with the second gear rack 142 on the drive member 138 such that motion of the firing trigger 28 causes the drive member 138 to move back and forth between a first drive position, shown in FIG. 8 , and a second drive position, shown in FIG. 9 .
  • the upper latch arm 118 on the release button 39 is engaged with the second notch 148 on the drive member 138 such that the metal drive rod 140 is locked in its proximal-most position, as depicted in FIG. 6 .
  • the upper latch arm 118 falls into the recess 122 , the upper latch arm 118 disengages with the second notch 148 to permit distal movement of the metal drive rod 140 , as depicted in FIG. 9 .
  • first gear rack 141 on the drive member 138 and the gear rack 154 on the metal drive rod 140 are engaged with the multiplier 136 , movement of the firing trigger 28 causes the metal drive rod 140 to reciprocate between a first reciprocating position, shown in FIG. 8 , and a second reciprocating position, shown in FIG. 9 . Since the diameter of the first pinion gear 150 is greater than the diameter of the second pinion gear 152 , the multiplier 136 moves the reciprocating section 134 a greater distance than the drive member 138 is moved by the firing trigger 28 . The diameters of the first and second pinion gears 150 and 152 may be changed to permit the length of the stroke of the firing trigger 28 and the force required to move it to be varied. It will be appreciated that the handle portion 20 is illustrative and that other actuation mechanisms may be employed. For instance, the closing and firing motions may be generated by automated means.
  • FIGS. 18 , 19 , and 23 - 26 One embodiment of an end effector 12 of the surgical stapling and severing instrument 10 is depicted in further detail in FIGS. 18 , 19 , and 23 - 26 .
  • the handle portion 20 produces separate and distinct closing and firing motions that actuate the end effector 12 .
  • the end effector 12 advantageously maintains the clinical flexibility of this separate and distinct closing and firing (i.e., stapling and severing).
  • the end effector 12 introduces the aforementioned ability to affirmatively maintain the closed spacing during firing after the clinician positions and clamps the tissue. Both features procedurally and structurally enhance the ability of the surgical stapling and severing instrument 10 by ensuring adequate spacing for instances where an otherwise inadequate amount of tissue is clamped and to enhance the clamping in instances where an otherwise excessive amount of tissue has been clamped.
  • FIG. 10 depicts a staple cartridge embodiment 300 of the present invention installed in the end effector 12 with the firing bar 14 in its unfired, proximal position.
  • the staple cartridge 300 has a cartridge body 302 that is divided by an elongated slot 310 that extends from a proximal end 304 of the cartridge 300 towards a tapered outer tip 306 .
  • a plurality of staple-receiving channels 320 a - 320 f are formed within the staple cartridge body 302 and are arranged in six laterally spaced longitudinal rows 500 , 502 , 504 , 506 , 508 , 510 , with three rows on each side of the elongated slot 310 .
  • Positioned within the staple-receiving channels 320 a - 320 f are the staples 222 . See FIGS. 10 and 11 .
  • the cartridge 300 further includes four laterally spaced longitudinal rows of staple drivers 330 a , 330 b , 370 a , and 370 b as shown in FIG. 11 .
  • the “first” inside staple drivers 330 a are slidably mounted within corresponding channels 320 b and 320 c such that each driver 330 a supports two staples 222 , one in a channel 320 b and one in a channel 320 c .
  • the “second” inside drivers 330 b are slidably mounted within channels 320 d and 320 e such that each driver 330 b supports two staples 222 , one in a channel 320 d and one in a channel 320 e .
  • the “outside” drivers 370 a and 370 b are slidably mounted within the staple-receiving channels 320 a and 320 f , respectively. Each of the outside drivers 370 a and 370 b supports a single staple 222 .
  • Drivers 370 a are referred to herein as “first” outside drivers and drivers 370 b are referred to herein as “second” outside drivers.
  • FIG. 12 illustrates a staple 222 that may be used in connection with the various embodiments of the present invention.
  • the staple 222 includes a main portion 223 and two prongs 225 .
  • the prongs 225 each have a length “P” and the main portion has a width “W”.
  • P may be approximately 0.102 inches
  • P may be approximately 0.134 inches
  • W may be approximately 0.012 inches.
  • Other sizes of staples 222 may be employed in the manners discussed below.
  • the inside staple drivers 330 a located on one side of the elongated slot 310 are referred to herein as “first” inside staple drivers and the inside staple drivers 330 b located on the other side of the elongated slot 310 are referred to herein as “second” inside staple drivers.
  • the second inside staple drivers 330 b are identical to the first inside staple drivers 330 a , except for their orientation in their respective channels in the cartridge body 302 .
  • FIGS. 13-15 illustrate one embodiment of a “first” inside double driver 330 a for supporting and driving staples 222 .
  • the staple driver 330 a has a primary driver portion 340 and a secondary driver portion 350 that is connected to the first primary portion 340 by a central base member 360 .
  • the primary driver portion 340 has a primary driver base 342 that has a groove 343 therein adapted to mate with a corresponding vertically extending tongue (not shown) in the cartridge body 302 for guiding and stabilizing the driver 330 a as it moves within its respective channel.
  • the primary driver portion 340 further has a first forward support column 344 and a first rearward support column 346 protruding upward from the first driver base 342 .
  • the first forward support column 344 has a first forward staple-receiving groove 345 therein and the first rearward support column 346 has a first rearwardly staple-receiving groove 347 therein. See FIGS. 13-15 .
  • the first forward support column 344 and the first rearward support column 346 are spaced from each other and collectively form a first staple cradle 348 for supporting the main portion 223 of the staple 222 therein in an upright position (i.e., prongs facing the anvil).
  • the secondary driver portion 350 has a secondary driver base 352 and a secondary forward support column 354 and a secondary rearward support column 356 protruding out from the second driver base 352 .
  • the secondary forward support column 354 has a secondary forward staple-receiving groove 355 therein and the secondary rearward support column 356 has a secondary rearward staple-receiving groove 357 therein.
  • the secondary forward support column 354 and the secondary rearward support column 356 are spaced from each other and collectively form a secondary staple cradle 358 for supporting the main portion 223 of another staple 222 therein.
  • the central base member 360 has an angled rearwardly facing edge 362 adapted to be engaged by a corresponding sled cam as will be discussed in further detail below.
  • the secondary forward support column 354 of the secondary driver portion is oriented relative to the first rearward support column 346 such that the staple 222 that is supported in the secondary staple cradle 358 is longitudinally offset from the staple 222 in the first staple cradle 348 .
  • the first inside drivers 330 a are each installed in one orientation into a corresponding pair of channels 320 b and 320 c located on one side of the elongated slot 310 in the cartridge body 302 .
  • the second inside staple drivers 330 b (located on the opposite side of the elongated slot 310 from the first inside staple drivers 330 a ) comprise inside drivers 330 a rotated 180 degrees so that their respective angled surfaces 363 face towards the proximal end 304 of the cartridge 300 to enable them to be installed in pairs of corresponding channels 320 d and 320 e .
  • only one inside driver configuration is employed which thereby eliminates the need for two different inside staple driver configurations for channels on each side of the elongated slot 310 .
  • FIGS. 16 and 17 illustrate one embodiment of a “first” outside staple driver 370 a .
  • a first outside staple driver 370 a has a second base 372 that has an angled rearwardly facing portion 374 .
  • Protruding upward from the second base 372 is a second forward support column 375 that has a second forward staple-receiving groove 376 therein.
  • a second rearward support column 377 also protrudes upward from the second base 372 in a spaced-apart relationship with respect to the second forward support column 375 .
  • the second rearward support column 377 has a second rearward staple-receiving groove 378 therein.
  • the support columns 375 , 377 collectively form a second staple cradle 379 that is configured to support a staple 222 therein in an upright position as illustrated in FIGS. 16 and 17 .
  • the staple drivers 370 a also have a laterally protruding rib 371 which is received in a corresponding groove (not shown) in the cartridge body 302 for guiding and stabilizing the driver 370 a as it moves within its respective channel.
  • a first outside driver 370 a is installed in one orientation into a corresponding channel 320 a on one side of the elongated slot 310 .
  • a second outside staple driver 370 b (to be located on the opposite side of the elongated slot 310 from the first outside staple drivers 370 a ) comprises an outside driver 370 a rotated 180 degrees so that the angled surface 374 ′ thereon faces toward the proximal end 304 of the cartridge 300 to enable it to be installed in a corresponding channel 320 f in the cartridge body 302 .
  • only one outside staple driver configuration is employed which avoids the need for two different outside staple driver configurations for channels on each side of the elongated slot 310 .
  • FIGS. 19 and 19A illustrate in cross-section one embodiment of a staple cartridge of the present invention mounted within one type of end effector 12 .
  • the end effector 12 in this embodiment employs a “stepped” anvil 18 of the type illustrated in FIGS. 23-25 . In other embodiments, however, the bottom surface of the anvil is planar and not stepped. As can be seen in FIGS. 19A , and 23 - 25 , the anvil 18 has a central portion 19 that is offset or not coplanar with the two lateral side portions 21 , 23 .
  • the upper surface 306 of the cartridge 300 is provided with a recessed central portion 307 and two lateral side portions 309 that are adapted to closely mate with the corresponding portions 19 , 21 , 23 , respectively, of the anvil 18 , when the anvil 18 is in the closed position. See FIG. 19A .
  • the under surfaces 200 of anvil 18 are provided with a series of forming pockets 202 that may be arranged in rows that correspond to the rows of channels in the cartridge 300 . That is, row 205 of pockets 202 may correspond to channel row 500 . Row 207 of pockets may correspond to channel row 502 . Row 209 of pockets 202 may correspond to channel row 504 . Row 211 of pockets 202 may correspond to channel row 506 . Row 213 of pockets 202 may correspond to channel row 508 . Row 215 of pockets 202 may correspond to channel row 510 .
  • Each pocket 202 has at least one forming surface 203 therein that is adapted to contact the ends of the staple prongs 225 being driven therein to thereby cause the prongs 225 to bend inwardly toward each other.
  • each pocket 202 has two intersecting arcuate forming surfaces 203 that are oriented as shown in FIG. 14A .
  • Each arcuate forming surface has an apex 203 ′ that defines a maximum pocket depth “Z”.
  • other forming pocket configurations could be employed.
  • the cartridge body 302 is mounted within the cartridge tray 224 .
  • the cartridge body 302 is formed with two inside longitudinally extending slots 390 and two outside longitudinally extending slots 392 . Slots 390 and 392 extend from the proximal end 304 of the cartridge to its tapered outer tip 306 (shown in FIG. 10 ).
  • This embodiment further includes a wedge sled 400 that slidably supported on the cartridge tray 224 .
  • One wedge sled embodiment 400 includes a pair of inside sled cams 410 , wherein one inside sled cam 410 corresponds to one of the inside longitudinally extending slots 390 and wherein the other inside sled cam 410 corresponds to the other inside longitudinally extending slot 390 . See FIG. 19 .
  • the wedge sled 400 further includes a pair of outside sled cams 420 , wherein one outside sled cam 420 corresponds to one of the outside longitudinally extending slots 392 and the other outside sled cam 420 corresponds to the other outside longitudinally extending slot 392 as shown in FIG. 19 .
  • the cartridge tray 224 holds the wedge sled 400 and the drivers 330 a , 330 b , 370 a , 370 b inside the cartridge body 302 .
  • the elongate channel 16 has a proximally placed attachment cavity 226 that receives a channel anchoring member 228 on the distal end of the frame 34 for attaching the end effector 12 to the handle portion 20 .
  • the elongate channel 16 also has an anvil cam slot 230 that pivotally receives an anvil pivot 232 of the anvil 18 .
  • the closure sleeve 32 that encompasses the frame 34 includes a distally presented tab 234 that engages an anvil feature 236 proximate but distal to the anvil pivot 232 on the anvil 18 to thereby effect opening and closing of the anvil 18 .
  • the firing drive member 36 is shown as being assembled from the firing bar 14 attached to a firing connector 238 by pins 240 , which in turn is rotatingly and proximally attached to the metal drive rod 140 .
  • the firing bar 14 is guided at a distal end of the frame by a slotted guide 239 inserted therein.
  • FIGS. 20-23 illustrate one embodiment of the wedge sled 400 of the present invention.
  • the wedge sled 400 includes a central spacer portion 402 that extends between the inside sled cams 410 .
  • a pusher block 404 is formed on the central spacer portion 402 for engagement with the middle pin 46 of the firing bar 14 .
  • a side profile of one embodiment of an inside sled cam 410 is depicted in FIG. 21 .
  • the inside sled cam 410 has a bottom surface 412 , and a first camming surface 414 that forms an angle “G” with the bottom surface 412 and a second camming surface 415 that extends to a top surface 416 .
  • the angle “G” may be 35 degrees and the angle “G′” may be 20 degrees.
  • the height of the inside sled cam 410 (the distance between the bottom surface 412 and the top surface 416 ) is represented as “first” sled cam height “H”. In one embodiment, distance “H’ is approximately 0.173 inches and the length of the top surface 416 may vary from embodiment to embodiment.
  • the first sled cam height represents the vertical distance that the inside sled cams 410 will drive the corresponding inside drivers 330 a , 330 b toward the anvil 18 during operation.
  • the wedge sled 400 further comprises lateral spacer portions 406 that extend between the inside sled cams 410 and the outside sled cams 420 as shown in FIGS. 20 and 23 .
  • a side profile of one embodiment of an outside sled cam 420 is depicted in FIG. 22 .
  • the outside sled cam 420 has a bottom surface 422 and a first camming surface 424 that forms an angle “I” with respect to the bottom surface 422 and a second camming surface 425 that to a top surface 426 .
  • angle “I” may be approximately 35 degrees and angle “I” may be approximately 20 degrees.
  • the height of the outside sled cam 420 (the distance between the bottom surface 412 and the top surface 416 ) is represented as the “second” sled cam height “J”. In one embodiment, distance “J’ is approximately 0.163 inches.
  • the second sled cam height represents the vertical distance that the outside sled cams 420 will drive the corresponding outside drivers 370 a , 370 b toward the anvil 18 during operation. The reader will understand that the above-recited dimensions are illustrative of one embodiment and may vary for other embodiments.
  • a portion of the staple cartridge 300 is removed to expose portions of the elongate channel 16 , such as recesses 212 , 214 and to expose some components of the staple cartridge 300 in their unfired position.
  • the cartridge body 302 shown in FIG. 18
  • the wedge sled 400 is shown at its proximal, unfired position with a pusher block 404 contacting the middle pin 46 (not shown in FIG. 23 ) of the firing bar 14 .
  • the wedge sled 400 is in longitudinal sliding contact upon the cartridge tray 224 and includes wedges sled cams 410 , 420 that force upward the double drivers 330 a , 330 b and the single drivers 370 b , 370 b as the wedge sled 400 moves distally.
  • Staples 222 (not shown in FIG. 23 ) resting upon the drivers 330 a , 330 b , 370 a , 370 b are thus also forced upward into contact with the anvil forming pockets 202 in anvil 18 to form closed staples.
  • the channel slot 45 in the elongate channel 16 that is aligned with the elongated slot 310 in the staple cartridge 300 .
  • FIG. 24 depicts the end effector 12 , which is in an open position by a retracted closure sleeve 32 , with a staple cartridge 300 installed in the elongate channel 16 .
  • the firing bar 14 is at its proximal position, with the upper pin 38 aligned in a non-interfering fashion with the anvil pocket 40 .
  • the anvil pocket 40 is shown as communicating with the longitudinal anvil slot 42 in the anvil 18 .
  • the distally presented cutting edge 48 of the firing bar 14 is aligned with and proximally from removed from the vertical slot 49 in the staple cartridge 300 , thereby allowing removal of a spent cartridge and insertion of an unfired cartridge, which may be “snapfit” into the elongate channel 16 .
  • extension features 316 , 318 of the staple cartridge 300 engage recesses 212 , 214 , respectively (shown in FIG. 23 ) of the elongate channel 16 .
  • FIG. 25 depicts the end effector 12 of FIG. 23 with all of the staple cartridge 300 removed to show the middle pin 46 of the firing bar 14 as well as portion of the elongate channel 16 removed adjacent to the channel slot 45 to expose the firing bar cap 44 .
  • portions of the shaft 23 are removed to expose a proximal portion of the firing bar 14 .
  • Projecting downward from the anvil 18 near the pivot is a pair of opposing tissue stops 244 which serve to prevent tissue from being positioned too far up into the end effector 12 during clamping.
  • FIG. 26 depicts the end effector 12 in a closed position with the firing bar 14 in an unfired position.
  • the upper pin 38 is in the anvil pocket 40 and is vertically aligned with the anvil slot 42 for distal longitudinal movement of the firing bar 14 during firing.
  • the middle pin 46 is positioned to push the wedge sled 400 distally so that the sled cams 410 , 420 contact and lift double drivers 330 a , 330 b and the single drivers 370 a , 370 b , respectively, to drive them upwardly toward the anvil 18 .
  • the distance between the bottom of the secondary staple-receiving grooves 345 , 347 forming the secondary staple cradle 349 and the apex 203 ′ of the forming surface 203 of the corresponding forming pocket 202 in the anvil 18 when the anvil 18 is in the closed position and the inside driver 330 a , 330 b is supported on the cartridge tray 224 is referred to herein as the secondary staple forming distance “B”.
  • the first staple forming distance “A” and the secondary staple forming distance “B” are substantially equal to each other. In other embodiments, those distances “A” and “B” may differ from each other.
  • the distance between the bottom of the second staple-receiving grooves 376 , 378 that form the second staple cradle 379 and the apex 203 ′ of the forming surface 203 of a corresponding forming pocket 202 in anvil 18 when the anvil 18 is in the closed position and the outside drivers 370 a , 370 b are supported on the cartridge channel 224 is referred to herein as a “second” staple forming distance “C”.
  • FIGS. 27 and 28 illustrate the forming of staples supported on some of the first outside drivers 370 a .
  • one of the outside sled cams 420 of the wedge sled 400 is initially contacting one of the outside drivers 370 a .
  • the outside sled cam 420 causes the outside drivers 370 a drive the staples 222 supported thereby into the staple forming pockets 202 in the anvil 18 .
  • the inside sled cams 410 contact the inside drivers 330 a , 330 b and causes them to drive the staples 222 supported thereby into the corresponding staple forming pockets 202 in the anvil 18 .
  • staples 222 in the outermost rows 520 , 530 of staples (those staples formed using the outside staple drivers 370 a , 370 b ) will be referred to hereinafter as staples 222 ′ and those staples in the innermost rows 522 , 524 , 526 , 528 of staples (those staples formed using the inside staple drivers 330 a , 330 b ) will be referred to hereinafter as staples 222 ′′. It will be understood, however, that staples 222 ′ and 222 ′′ are identical to each other prior to being formed by the various embodiments of the present invention.
  • staples 222 ′ and 222 ′′ each have identical prong lengths “P” and widths “W”.
  • the above desired effects may be attained by altering the staple forming distances “A”, “B”, and “C” relative to each other and/or the sled cam heights “H” and “J”.
  • the height “H” of each of the inside sled cams 410 is substantially equal to the sled height “J” of each of the outside sled cams 420 . See FIGS. 21 and 22 .
  • the staple forming distances “A” and “B” are substantially equal to each other, but distances “A” and “B” are less than the staple forming distance “C”.
  • the distance “D” between the bottoms of the first staple-receiving grooves 345 , 347 and the bottom surface 342 ′ of the primary driver base 342 is substantially equal to the distance “E” between the bottoms of the secondary staple-receiving grooves 356 , 357 and the bottom surface 352 ′ of the secondary driver base portion 352 . See FIG. 15 .
  • the distance “F” between the bottoms of the second staple-receiving grooves 376 and 378 and the bottom surface 373 of the third base 372 of the outside drivers 370 a , 370 b is less than distances “D” and “E” ( FIG. 15 ). Because the forming distance “C” is greater than the forming distances “A” and “B”, the staples 222 supported and formed by the outside drivers 370 a , 370 b are not compressed as much as the staples supported and formed by the inside drivers 330 a , 330 b .
  • FIG. 29 illustrates the rows of staples formed on each side of a cut line 600 utilizing this embodiment of the present invention wherein the forming distances “A” and “B” are equal to each other and the forming distance “C” is greater than the forming distances “A” and “B”.
  • the formed height of the outside staples 222 ′ (represented as dimension “L” in FIG. 30 ) in rows 520 and 530 would be 0.020 inches is greater than the formed height of the inside staples 222 ′′ (represented as dimension “M” in FIG. 31 ) in rows 522 , 524 , 526 , 528 .
  • the same result may be achieved by utilizing another embodiment of the present invention wherein the forming distances “A”, “B” and “C” are essentially equal. In this embodiment, however, the height of each of the inside sled cams 410 (distance “H” in FIG. 21 ) is greater than the height of each of the outside sled cams 420 (distance “J” in FIG. 22 ).
  • the inside sled cams 410 will drive the corresponding inside drivers 330 a , 330 b further towards the anvil than the outside sled cams 420 will drive the corresponding outside drivers 370 a , 370 b .
  • Such driving action will cause the staples supported by the inside drivers 330 a , 330 b to be compressed to a greater extent than those staples supported by the outside drivers 370 a , 370 b .
  • the formed height of staples 222 ′ in lines 520 , 530 would be 0.020′′ greater than the formed height of staples 222 ′′ in lines 522 , 524 , 526 , 528 .
  • the outside rows 520 , 530 of staples 222 ′ and the inside rows 522 , 528 of staples 222 ′′ may be formed with heights that are greater than the formed heights of the staples 222 ′′ in the inside rows 524 , 526 . See FIG. 32 . This result is achieved by making the forming distances “C” greater than the forming distance “A” and making forming distance “A” greater than secondary forming distance “B”.
  • FIG. 33 Another embodiment of the present invention can be used to install staples where it is desirable for the formed heights of staples in a single row to vary.
  • FIG. 33 One such arrangement is depicted in FIG. 33 .
  • the formed heights of the staples 222 ′ in the outside rows 520 , 530 increase when moving from the proximal ends 521 , 531 of each row 520 , 530 , respectively to the distal ends 523 , 533 of each row 520 , 530 , respectively.
  • This effect may be accomplished by decreasing the forming distance “C” for each succeeding driver 370 a , 370 b .
  • the driver 370 a closest the proximal end of the cartridge 300 would be sized to establish a forming distance “C” that is greater than the forming distance “C” achieved by the adjacent driver 370 a and so on to achieve a condition wherein each succeeding staple 222 ′ (moving in the direction from the proximal end to the distal end of the cartridge 300 ) would have larger formed heights.
  • This result could also be attained in the staples 222 ′′ in rows 522 , 524 , 526 , 528 by similarly altering the forming distances “A” and/or “B” attained by each driver 330 a , 330 b .
  • formed heights of the staples 222 ′ in the outside rows 520 , 530 could be made to decrease when moving from the proximal ends 521 , 531 of each row 520 , 530 , respectively, to the distal ends 523 , 533 of each row 520 , 530 , respectively. This result may be attained by increasing the forming distance of each succeeding driver 370 a , 370 b .
  • the driver 370 a closest the proximal end of the cartridge 300 would have a forming distance “C” that is less than the forming distance “C” of the adjacent driver 370 a and so on to achieve a condition wherein each succeeding staple 222 ′ (moving in the direction from the proximal end to the distal end of the cartridge) would have smaller formed heights. See FIG. 34 .
  • the surgical stapling and severing instrument 10 is used as depicted in FIGS. 1-2 and 35 - 41 .
  • the instrument 10 is in its start position, having had an unfired, fully loaded staple cartridge 300 snap-fitted into the distal end of the elongate channel 16 .
  • Both triggers 26 , 28 are forward and the end effector 12 is open, such as would be typical after inserting the end effector 12 through a trocar or other opening into a body cavity.
  • the instrument 10 is then manipulated by the clinician such that tissue 248 to be stapled and severed is positioned between the staple cartridge 300 and the anvil 18 , as depicted in FIG. 35 .
  • tissue 248 to be stapled and severed is positioned between the staple cartridge 300 and the anvil 18 , as depicted in FIG. 35 .
  • the clinician then moves the closure trigger 26 proximally until positioned directly adjacent to the pistol grip 24 , locking the handle portion 20 into the closed and clamped position.
  • the retracted firing bar 14 in the end effector 12 does not impede the selective opening and closing of the end effector 12 , but rather resides within the anvil pocket 40 .
  • the E-beam firing bar 14 is aligned for firing through the end effector 12 .
  • the upper pin 38 is aligned with the anvil slot 42 and the elongate channel 16 is affirmatively engaged about the channel slot 45 by the middle pin 46 and the firing bar cap 44 .
  • the clinician moves the firing trigger 28 proximally causing the firing bar 14 to move distally into the end effector 12 .
  • the middle pin 46 enters the staple cartridge 300 through the firing drive slot 47 to affect the firing of the staples 222 (not shown in FIGS. 38 and 39 ) via wedge sled 400 toward the anvil 18 .
  • the lowermost pin, or firing bar cap 44 cooperates with the middle pin 46 to slidingly position cutting edge 48 of the firing bar 14 to sever tissue.
  • the two pins 44 , 46 also position the upper pin 38 of the firing bar 14 within longitudinal anvil slot 42 of the anvil 18 , affirmatively maintaining the spacing between the anvil 18 and the elongate channel 16 throughout its distal firing movement.
  • the clinician continues moving the firing trigger 28 until brought proximal to the closure trigger 26 and pistol grip 24 .
  • all of the ends of the staples 222 are bent over as a result of their engagement with the anvil 18 .
  • the firing bar cap 44 is arrested against a firing bar stop 250 projecting toward the distal end of the channel slot 45 .
  • the cutting edge 48 has traversed completely through the tissue. The process is complete by releasing the firing trigger 28 and by then depressing the release button 30 while simultaneously squeezing the closure trigger 26 to open the end effector 12 .
  • FIGS. 42-43 show the inside and outside sled cams 410 , 420 of the sled 400 having different heights so that the staples, when formed, may have different formed heights.
  • the outside sled cam 420 may be shorter than the inside sled cam 410 . That way, the outside staples may have a greater formed height than the inside staples.
  • FIG. 42 is a perspective view of the sled 400 with the different heights for the inside and outside sled cams 410 , 420 .
  • FIG. 43 is a side view of the end effector 12 showing various stages of driving the staples 222 with a sled 400 having different heights for the inside and outside sled cams 410 , 420 .
  • the formed staple 222 b may have a greater formed height than the formed staple 222 a because the staple 222 b was driven by the outside cam sled 420 and the staple 222 a was driven by the taller inside cam sled 410 .
  • the heights of the driver portions 342 , 352 of a double driver 330 may vary so that the staples, when formed, may have different heights.
  • the secondary driver portion 352 may be shorter (having height “E”) than the primary driver portion 342 (having height “D”). That way, the staple 222 a driven by the secondary driver portion 352 may have a greater formed height than the staple 222 b driven by the primary driver portion 342 .
  • some or all of the inside double drivers 330 could have primary and secondary driver portions 342 of different heights. Further, the heights differential need not be all the same. Different inside double drivers 330 could have different height differentials.
  • the height of the primary and secondary driver portions 342 , 352 may be the same as or different from the height of the driver portions 372 of the outside staple drivers 370 . That is, in various embodiments, the driver height of the outside staple driver portion 372 may be (1) different from the height of both driver portions 342 , 352 of the inside double driver 330 when the driver portions 342 , 352 are the same height, (2) different from the height of both driver portions 342 , 352 when they are different heights, or (3) the same as the height for one of the driver portions 342 , 352 when the driver portions 342 , 352 have different heights. Also, the heights of the driver portions 372 of the outside staple drivers 370 need not be all the same. Different outside staple drivers 370 could have different heights.
  • FIG. 45 shows an embodiment having different height drivers (e.g., the primary driver portion 342 taller than the secondary driver portion 352 ) and with different depth anvil pockets 202 . Varying the depth of the anvil pockets 202 can also affect the height of the formed staples. All things being equal, deeper pockets should result in longer formed staples.
  • the pockets 202 corresponding to the primary driver portion 342 are deeper than the pockets 202 corresponding to the secondary driver portion 352 . Some or all of the pockets 202 for each staple row 500 - 510 could be deeper. Also, the depth differentials need not be the same. A multitude of different depths could be used in a single row 500 - 510 or across rows 500 - 510 .
  • staples 222 with differing pre-formation prong heights may be used.
  • the longer staple 222 a is used with the shorter, secondary driver portion 352 of an inside double driver 330 in comparison with staple 222 b driven by the primary driver portion 342 .
  • the pre-formation staple prong lengths may vary within a staple row 500 - 510 or across staple rows.
  • all of the staples in the inside rows 504 - 506 could have the same pre-formation prong length x
  • all of the staples in the intermediate rows 502 , 508 could be longer (e.g., a length 1.10 ⁇ )
  • all of the staples in the outer rows 500 , 510 could be still longer (e.g., a length of 1.20 ⁇ ).
  • the anvil pockets 202 could have the same depth. In other embodiments, varying anvil pocket depths could be used.
  • FIG. 48 is a side view of the end effector 12 in an embodiment where the outside staple drivers 370 have different heights.
  • the first staple driver 370 ′ is taller than the second staple driver 370 ′′.
  • the staples 222 have the same pre-formation prong length and the corresponding anvil pockets 202 have the same depth.
  • the formed staple 222 ′′ formed with the second outside staple driver 370 ′′ is longer than the formed staple 222 ′ formed with the first outside staple driver 370 ′.
  • FIG. 49 is a side view of the end effector 12 where the anvil 18 has pockets 202 of different depth for the staples 222 driven by a inside double driver 330 .
  • the pockets 202 corresponding to the primary driver portion 342 are deeper than the corresponding pockets 202 for the secondary driver portion 352 .
  • the primary and secondary driver portions 342 , 352 are the same height and the staples 222 have the same pre-formation prong length.
  • the distance between the top of the primary driver portion 342 and the top of the corresponding anvil pockets 202 is height “A” and the corresponding height for the secondary portion 352 is height “B,” where “A” is greater than “B” by a height differential “h”. This should result in longer formed staples for the primary driver portion 342 , as shown in FIG. 50 .
  • FIGS. 51 and 60 show aspects of an end effector 12 according to other embodiments that can be used to produce staples of different formed lengths.
  • the staple drivers 330 , 370 are driven in stages by a plurality of actuator wedge cams 709 at the distal end of a plurality of wedge band sets 710 , 712 , 714 .
  • each wedge band set comprise four wedge bands (shown best in FIG. 56 ); two 720 for actuating the inner drivers 330 a,b and two 722 for actuating the outer drivers 370 a,b .
  • the wedge bands of the wedge band sets 710 , 712 , 714 may be actuated in serial order and may ride on top of one another in a stack to drive the staple drivers 330 a,b , 370 a,b (and hence the staples 222 ) in serial stages.
  • the wedge bands of the lowermost actuator wedge band set 710 may be fired (or actuated) first, and may partially deploy the staples 222 .
  • the middle wedge band set 712 which rides on top of the lowermost wedge band set 710 as shown in FIGS. 53-56 , may be actuated next, which may have the effect of beginning to form the staples 222 .
  • FIG. 56 illustrates this operation.
  • the lowermost wedge band sets 710 have been fired, the middle wedge band sets 712 have been partially fired, and the uppermost wedge band set 714 has not yet been fired.
  • such an embodiment may comprise a plurality (in this case four) of stacked wedge band sets, each stack comprising a wedge band from the lowermost set 710 , the middle set 712 , and the uppermost set 714 .
  • the firing bar 716 with the e-beam firing mechanism 14 , may then be fired to cut the tissue clamped by the end effector 12 .
  • a hold down spring 718 which may be connected to the frame 34 at a crossbar 719 , may engage and urge the firing bar 716 downward.
  • the cumulative height of the wedge band stacks of inner row 720 or may be greater than the cumulative height of the wedge band stacks of the outer row 722 (by a height differential h′). That way, the outer row of staples may have a greater formed length than the inner row of formed staples, as shown in the example of FIG. 55 , where the outer row staple 222 a has a greater formed length than the inner row staple 222 b . As shown the example of FIG.
  • the wedge bands of the lowermost and middle wedge bands sets 710 , 712 may be the same height, and the height of the wedge bands for the outer row 722 of the uppermost wedge band set 714 may be less than the height of the wedge bands of the inner row 720 of the uppermost wedge band set 714 to provide the height differential for the different wedge band stacks.
  • the end effector 12 in such an embodiment may still comprise a sled 400 , but without the sled cams 410 , 420 , to keep the firing mechanism 14 out of the lockout in the channel (see FIGS. 3-4 and related text).
  • the inner and outer wedge band stacks 720 , 722 may be tightly spaced within the frame 34 .
  • the end effector 12 may further comprise an actuator wedge band respective guide 702 for spreading out the wedge band stacks 720 , 722 when they enter the end effector 12 to align with the staple drivers 330 , 370 .
  • the wedge band guide 702 may include wedge band channels for each of the inner and outer wedge band stacks 720 , 722 . That is, in the illustrated embodiment, the wedge band guide 702 may comprise four wedge band channels—two of the inner rows 720 and two for the outer rows 722 .
  • FIGS. 58-60 show one side of the wedge band guide 702 in more detail. As shown in FIG.
  • the wedge band channels 730 , 732 may force the wedge band stacks 720 , 722 outward as they enter the end effector 12 .
  • the inner wedge band channel 730 may direct the inner wedge band stack 720 so that the inner wedge band stack 720 aligns with the inner staple drivers 330 and the outer wedge band channel 732 may direct the outer row wedge band stack 722 so that the outer wedge band stack aligns with the outer staple drivers 370 .
  • the channels 730 , 732 are straight. In other embodiments, one or both of the channels 730 , 732 may comprise curved portions.
  • FIG. 62 is a cross-sectional view of the shaft assembly 10 according to such an embodiment.
  • each wedge band set 710 - 714 may have its own actuation (or firing) bar.
  • the lowermost actuation bar 740 may actuate the wedge bands of the lowermost wedge band set 710
  • the middle actuation bar 742 may actuate the wedge bands of the middle wedge band set 712
  • the uppermost actuation bar 744 may actuate the wedge bands of the uppermost wedge band set 714 .
  • the firing bar 716 for actuating the cutting instrument 14 may be connected to the uppermost wedge band set 714 so that the cutting instrument 14 is actuated with the uppermost (last) wedge band set 714 .
  • the firing bar 716 may have its own actuation mechanism so that is may be actuated separately.
  • the clinician may choose (or select) to actuate less than all of the wedge band sets 710 - 714 before actuating the firing rod 716 to cut the tissue to thereby exercise some choice in the length of the staples to be formed.
  • the clinician may select to actuate the lowermost and middle wedge band sets 710 , 712 —and not the uppermost wedge band set 714 —before cutting.
  • FIGS. 63-69 illustrate an embodiment of an open linear stapling and cutting device 800 that may use multiple stacked wedge band sets to produce staples of different formed lengths.
  • the anvil 810 is below the channel 809 .
  • the staples are driven down through tissue clamped in the end effector 12 as part of the stapling operation.
  • the device 800 may include an upper body piece 802 and a lower body piece 804 .
  • the upper body piece 802 may include a channel 806 in which the staple cartridge 809 is inserted.
  • the anvil 810 may be connected to the lower body piece 804 and face the staple cartridge 809 so that the staples 222 can be formed against the staple forming surface 812 of the anvil 810 .
  • the clinician may lock the device 800 using a clamp lever 814 of a clamp lever assembly 816 connected to the upper body piece 802 .
  • the staple drivers 820 in the cartridge 809 may be actuated in stages using multiple staged wedge band stacks. Because the staples 222 are driven down in this embodiment, the wedge bands of the uppermost wedge band set 822 may be actuated first to partially deploy the staples 222 . Next, the wedge bands of the middle wedge band set 824 , which ride on the uppermost wedge band set 822 , may be actuated to begin forming the staples 222 . Then the wedge bands of the lowermost wedge band set 826 , which ride on the middle wedge band set 824 , may be actuated, which finishes the formation of the staples 222 .
  • the firing bar 828 is connected to the lowermost wedge band set 826 and is fired with the lowermost wedge band set 826 .
  • a hold down spring 832 may engage and urge the firing bar 828 upward.
  • a knife retainer 834 may retain the firing bar 828 with the lowermost wedge band set 826 .
  • the clinician may actuate the wedge band sets using a three-part actuation slide bar 840 .
  • the upper piece 842 may actuate the uppermost (initial) wedge band set 822 .
  • the middle piece 844 may actuate the middle wedge band set 824 .
  • the lower piece 846 may actuate the lowermost (last) wedge band set 826 .
  • the staple pushers 820 may have different heights.
  • one set of staple pusher 820 a could be shorter than another set of staple pushers 820 b .
  • the formed staple 222 a produced by the shorter staple pusher 820 a , may have a longer formed length than the formed staple 222 b , formed by the longer staple pusher 820 b .
  • the staples 222 may have different lengths or wire diameters to create different length formed staples, and/or the pockets 202 in the anvil 810 could have different depths to create different length formed staples.
  • the cumulative heights of the wedge band stacks could be different.
  • the staple drivers could have a staple/driver interface that permits staples of varying wire diameter to be employed.
  • the outside staple drivers 370 a,b may have a raised dimple configuration on its upper surface for supporting staples having differing wire diameters.
  • the dimple configuration may comprise, as shown in the illustrated embodiment, two inner sets of outwardly protruding dimples (or convex bumps) 620 a,b , and two outer sets of dimples 622 a,b .
  • Each set of dimples defines a receiving area where a staple 222 may sit in the upright position, as shown in FIGS. 81-83 .
  • the dimples of the inner sets 620 a,b may be larger than the dimples of the outer dimple sets 622 a,b so that the receiving area of the inner sets 620 a,b is less than for the outer dimple sets 622 a,b .
  • staples 222 of varying wire thicknesses may be accommodated, as shown in FIGS. 82 and 83 .
  • the dimples could be configured so that the staple drivers 370 can accommodate staples having a wire diameter of 0.006 inches to 0.012 inches, or some other range such as 0.004 inches to 0.008 inches or 0.006 inches to 0.008 inches, etc.
  • staples of different wire thicknesses could be used in a single cartridge 306 . Differing wire diameters would produce different formed staple heights all other things being equal (e.g., same drive/crush distance, same pocket depth, etc.).
  • the staple cradles for the inside drivers 330 may include sharp points 624 that may injure the tissue that is being stapled.
  • the dimple configurations on the outside staple drivers 370 lack such sharp points, which would tend to minimize the trauma on the tissue being stapled.
  • the outer staple drivers 370 a,b have the raised dimple configuration in order to accommodate staples of different wire diameters and the staple cradles of the inside staple drivers 342 , 352 can only support upright staples of one general wire diameter.
  • the one or both of the inside staple drivers 342 , 352 may also or alternatively have the raised dimple configuration.
  • a v-shaped staple channel 349 , 379 may be used. Such a v-shaped channel may also accommodate staples having different wire diameters.
  • staple pushers with staple interfaces that accommodate different staple wire diameters could be used with other types of staple drivers than the inside double and outside single staple drivers shown in FIGS. 78-83 .
  • FIGS. 70-77 are cross-sectional frontal views of the end effector 12 according to various embodiments of the present invention.
  • the anvil 18 is stepped, having a central portion 19 that is offset relative to (or not coplanar with) the two lateral side portions 21 , 23 .
  • the upper surface 306 of the cartridge 300 has a recessed central portion 307 and two lateral side portions 309 (see FIG. 19A ). All the staples 222 have the same pre-formation prong height and the corresponding anvil pockets 202 have the same depth.
  • the pockets 202 on the two lateral side portions 21 , 23 of the anvil 18 are offset from the pockets in the central portion 19 of the anvil. Offsetting the vertical position of the staple forming pockets 202 can affect the length of the formed staples 222 . All other things being equal, staples formed by staple forming pockets that are elevated will have a longer formed length than staples formed with pockets that are not elevated.
  • the primary and secondary driver portions 342 , 352 of the double inside drivers 330 a,b are the same height, and the height of the driver portion 372 of the outside staple drivers 370 a,b is greater than the height of the driver portions 342 , 352 of the double inside staple drivers 330 a,b .
  • the inside and outside sled cams 410 , 4120 are the same height in this embodiment.
  • FIG. 71 shows an embodiment where the end effector 12 has a stepped cartridge tray 224 at the bottom of the cartridge 300 to match the steps in the channel 16 .
  • the cartridge tray 224 has a central portion 602 on which the double inside staple drivers 330 a,b rest and outer lateral portions 604 on which the outside staple drivers 370 a,b rest.
  • the central portion 602 of the cartridge tray 224 is elevated above the lateral portions 604 .
  • the sled 400 may be configured so that the outside sled cam 420 is positioned lower than the inside sled cam 410 so that the outside sled cam 420 can engage the lower outside driver portions 370 a,b.
  • FIG. 72 The embodiment illustrated in FIG. 72 is similar to that shown in FIG. 71 except that in FIG. 72 the cartridge 300 does not include the cartridge tray 224 . Rather, the staple drivers 330 , 370 rest directly on the channel 16 . Such an embodiment may be beneficial because it may allow for more material (e.g., metal) in the channel 16 at points A and B than in a similar embodiment with the cartridge tray 224 (such as shown in FIG. 71 ).
  • material e.g., metal
  • FIG. 73 The embodiment illustrated in FIG. 73 is also similar to that shown in FIG. 71 except that in FIG. 73 the cartridge tray 224 is raised slightly relative to the bottom on the channel 16 in comparison with the embodiment shown in FIG. 71 .
  • Such an embodiment may also allow for more material (e.g., metal) in the channel 16 at points A and B than in the embodiment shown in FIG. 71 .
  • the height of the anvil 18 could be reduced to permit more material in the channel 16 at points A and B.
  • FIG. 74 The embodiment of FIG. 74 is similar to that used in FIG. 73 except that no cartridge tray 224 is included in the embodiment of FIG. 74 .
  • FIG. 75 is similar to that of FIG. 70 except than in FIG. 75 the outer rows of pockets 202 are formed in a compliant material portion 610 of the anvil 18 .
  • the compliant material portion 610 may be made from a material that is more compliant to the rest of the anvil 18 .
  • the compliant material portion 610 may be made from plastic or a plastic composite material and the rest of the pockets may be defined in a less-compliant material, such as stainless steel, of the anvil 18 .
  • the less-compliant anvil portion is sometimes referred to herein as “non-compliant” to distinguish it from the compliant materials portion 610 , although it should be recognized that the so-called non-compliant material portion would be somewhat compliant, just less compliant than the compliant material portion 610 . All things being equal, staples formed with the outer pockets 202 formed in the compliant material portion 610 of the anvil 18 would be longer than stapled form in the non-compliant (e.g., metal) portion of the anvil 18 because the compliant material portion 610 would compress more during the staple formation process.
  • non-compliant e.g., metal
  • FIGS. 76 and 77 collectively show another embodiment.
  • the channel 16 includes a compliant material portion 612 under the outside drivers 370 .
  • the complaint material portion 612 may be plastic or a composite plastic, for example.
  • the inside drivers 330 may rest on the less-compliant (or “non-compliant”) channel 16 , which may be made of metal (e.g., stainless steel).
  • the outside sled cam 420 may slightly compress the compliant material portions 612 under the outside drivers 370 when forming the staples in relation to the inside drivers 330 on the channel 16 , thereby forming slightly longer staples in the outside rows.
  • the compliant material portions 612 could be under the inside drivers 330 if it was desired to make the inside staples have a greater formed length.
  • staples of different materials could be used to produce staples of different formed lengths.
  • the different materials may have different modulus of elasticity so that they will be formed differently given the same driving force. Staples having a higher modulus of elasticity will tend to be deformed less given the same driving force, thereby tending to produce staples having a longer formed length.
  • the different materials for the staples 222 may comprise titanium, stainless steel, alloys, etc.
  • FIGS. 84-89 illustrate a circular stapler 900 that is capable of forming staples with different formed heights.
  • the circular stapler 900 includes a head 902 , an anvil 904 , an adjustment knob assembly 906 , and a trigger 908 .
  • the head 902 is coupled to a handle assembly 910 by an arcuate shaft assembly 912 .
  • the trigger 908 is pivotally supported by the handle assembly 910 and acts to operate the stapler 900 when a safety mechanism (not shown) is released.
  • a firing mechanism (not shown in FIG.
  • a knife 916 operably supported within the head 902 acts to cut tissue clamped between the head 902 and the anvil 904 .
  • the stapler 900 is then pulled through the tissue leaving stapled tissue in its place.
  • FIGS. 85 and 86 illustrate one form of the anvil 904 and the head 902 that may be employed in connection with various embodiments of the subject invention.
  • the anvil 904 may have a circular body portion 920 that has an anvil shaft 922 for attaching a trocar (not shown) thereto.
  • the anvil body 920 has a staple forming surface 924 thereon and may also have a shroud 926 attached to the distal end thereof.
  • the anvil 904 may be further provided with a pair of trocar retaining clips or leaf-type springs 928 that serve to releasably retain the trocar in retaining engagement with the anvil shaft 922 .
  • a plastic knife board 930 may be fitted into a cavity 932 in the anvil body 904 .
  • the head 902 may comprise a casing member 940 that supports a cartridge supporting assembly in the form of a circular staple driver assembly 942 therein that is adapted to interface with a circular staple cartridge 944 and drive the staples 914 supported therein into forming contact with the staple forming surface 924 of the anvil 904 .
  • the circular knife member 916 is also centrally disposed within the staple driver assembly 942 .
  • the proximal end of the casing member 940 may be coupled to an outer tubular shroud 946 of the arcuate shaft assembly 912 by a distal ferrule member 948 . More details regarding circular staples may be found in U.S.
  • the staple driver assembly 942 may comprise an outer ring of staple drivers 950 and an inner ring of staple drivers 952 .
  • the anvil 904 may comprise two concentric rings of staple forming pockets 202 . Actuation of the firing trigger 908 of the handle assembly 910 cause a compression shaft (not shown) of the shaft assembly 912 to move distally thereby driving the staple driver assembly 942 distally to fire the staples 914 into forming contact with the staple forming surface 924 of the anvil 904 .
  • the outer staple drivers 950 when actuated by the drive mechanism of the stapler 900 , drive an outer ring of staples 914 into the clamped tissue and are formed by surface forming surface 924 of the anvil 904 .
  • the inner staple drivers 952 when actuated by the drive mechanism of the stapler 900 , drive an outer ring of staples 914 into the clamped tissue and are formed by surface forming surface 924 of the anvil 904 .
  • the staple drivers 950 , 952 could be of different heights to thereby form different length formed staples (all other things being equal).
  • the outer staple drivers 950 may be shorter than the inner staple drivers 952 so that the outer formed staples are longer than the inner formed staples, as shown in FIG. 88 .
  • the inner staple drivers 952 could be shorter than the outer staple drivers 950 .
  • the outer staple drivers 950 may not be a uniform height; there could be height variation among the outer staple drivers 950 .
  • there could be height variation among the inner staple drivers 952 there could be height variation among the inner staple drivers 952 .
  • staples with different pre-formation prong heights could be used.
  • the staple forming pockets 202 in the surface forming surface 924 of the anvil 904 may have varying depths to thereby vary the length of the formed staples.
  • some or all of the staple drivers 950 , 952 may have a dimple configuration at their interface with the staples 914 to accommodate staples of different wire diameters or some other configuration that accommodates staples of different wire diameters (e.g., a v-shaped staple channel).
  • some of the pockets 202 in the anvil 1006 may be formed in a compliant material portion of the anvil 1006 .
  • the staples 914 could be made of materials that have a different modulus of elasticity.
  • the present invention is directed to a linear stapler 1000 that is capable of forming staples of different heights.
  • FIGS. 90-95 focus on the end effector 1002 for such a linear stapler 1000 .
  • the end effector 1002 may comprise a replaceable staple cartridge 1004 and a linear anvil 1006 .
  • the cartridge 1004 comprises staples which are driven into and formed by the anvil 1006 when the device 1000 is actuated.
  • the anvil 1006 may be non-rotatable in the linear stapler 1000 .
  • a clamping trigger (not shown), which causes the cartridge 1004 to slide distally toward the anvil 1006 from an open position to a closed position.
  • a clamping trigger (not shown), which causes the cartridge 1004 to slide distally toward the anvil 1006 from an open position to a closed position.
  • FIGS. 92-93 show the end effector 1002 with the outer cover of the cartridge 1004 removed.
  • the staple cartridge 1004 may comprise a staple driver assembly 1010 comprising a row of inner staple drivers 1012 and a row of outer staple drivers 1014 .
  • the staple drivers 1012 , 1014 could be of different heights to thereby form different length formed staples (all other things being equal).
  • the outer staple drivers 1014 may be shorter than the inner staple drivers 1012 so that the outer formed staples 222 b are longer than the inner formed staples 222 a , as shown in FIGS. 94-95 .
  • the inner staple drivers 1012 could be shorter than the outer staple drivers 1014 .
  • outer staple drivers 1014 may not be a uniform height; there could be height variation among the outer staple drivers 1014 .
  • the cartridge 1004 may comprise, for example, three rows of staples, where the outer two rows have shorter staple drivers and the inner row has longer staple drivers.
  • staples 1008 having different pre-formation prong heights could be used.
  • the staple forming pockets 202 in the surface forming surface 1016 of the anvil 1006 may have varying depths to thereby vary the length of the formed staples.
  • some or all of the staple drivers 1012 , 1014 may have a dimple configuration at their interface with the staples 1008 to accommodate staples of different wire diameters or some other configuration that accommodates staples of different wire diameters (e.g., a v-shaped staple channel).
  • some of the pockets 202 in the anvil 1006 may be formed in a compliant material portion of the anvil 1006 .
  • staples 1008 of different materials could be used.
  • the anvil 1006 is cause to slide proximally toward the staple cartridge 1004 into the closed position to clamp tissue in the end effector 102 .
  • the cartridge 1004 may comprise a distally-extending tissue retaining pin 1020 that engages an opening 1022 in the anvil when the end effector 1002 is in the closed position to retain the tissue between the cartridge 1004 and the anvil 1002 .
  • a distally extending firing bar (not shown) is actuated, which actuates the staple drivers 1010 to drive the staples 1008 .
  • the linear stapler 1000 could be configured so that the staple cartridge 1004 slides distally toward the anvil when the clamping trigger is actuated.
  • stapling devices may combine some of the features described herein for creating staples of different formed lengths.
  • the staples may all have the same pre-formation prong length or some staples may have different pre-formation prong lengths.
  • the staples may all be made out of the same material, or staples made of different materials, with different modulus of elasticity, could be used.
  • the staple wire diameters may all be the same or some of them could be different.
  • the devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure.
  • reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
  • the various embodiments of the invention described herein will be processed before surgery.
  • a new or used instrument is obtained and if necessary cleaned.
  • the instrument can then be sterilized.
  • the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag.
  • the container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons.
  • the radiation kills bacteria on the instrument and in the container.
  • the sterilized instrument can then be stored in the sterile container.
  • the sealed container keeps the instrument sterile until it is opened in the medical facility.
  • the device is sterilized. This can be done by any number of ways known to those skilled in the art including beta or gamma radiation, ethylene oxide, steam.
  • the present invention has been discussed in terms of endoscopic procedures and apparatus.
  • use herein of terms such as “endoscopic” should not be construed to limit the present invention to a surgical stapling and severing instrument for use only in conjunction with an endoscopic tube (i.e., trocar).
  • endoscopic tube i.e., trocar
  • the present invention may find use in any procedure where access is limited to a small incision, including but not limited to laparoscopic procedures, as well as open procedures.
  • the unique and novel aspects of the various staple cartridge embodiments of the present invention may find utility when used in connection with other forms of stapling apparatuses without departing from the spirit and scope of the present invention.
  • FIG. 96 depicts one version of a master controller 11001 that may be used in connection with a robotic arm slave cart 11100 of the type depicted in FIG. 96 .
  • Master controller 11001 and robotic arm slave cart 11100 are collectively referred to herein as a robotic system 11000 .
  • Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various embodiments and forms of the present invention.
  • the master controller 11001 generally includes master controllers (generally represented as 11003 in FIG.
  • the master controllers 11001 generally comprise manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating tools (for example, for closing grasping saws, applying an electrical potential to an electrode, or the like).
  • the robotic arm cart 11100 is configured to actuate a plurality of surgical tools, generally designated as 11200 .
  • a plurality of surgical tools generally designated as 11200 .
  • the robotic arm cart 11100 includes a base 11002 from which, in the illustrated embodiment, three surgical tools 11200 are supported.
  • the surgical tools 11200 are each supported by a series of manually articulatable linkages, generally referred to as set-up joints 11104 , and a robotic manipulator 11106 .
  • Cart 11100 will generally have dimensions suitable for transporting the cart 11100 between operating rooms.
  • the cart 11100 may be configured to typically fit through standard operating room doors and onto standard hospital elevators.
  • the cart 11100 would preferably have a weight and include a wheel (or other transportation) system that allows the cart 1100 to be positioned adjacent an operating table by a single attendant.
  • robotic manipulators 11106 may include a linkage 11108 that constrains movement of the surgical tool 11200 .
  • linkage 11108 includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool 11200 rotates around a point in space 11110 , as more fully described in issued U.S. Pat. No. 5,817,084, the full disclosure of which is herein incorporated by reference.
  • the parallelogram arrangement constrains rotation to pivoting about an axis 11112 a , sometimes called the pitch axis.
  • the links supporting the parallelogram linkage are pivotally mounted to set-up joints 11104 ( FIG.
  • the surgical tool 11200 may have further degrees of driven freedom as supported by manipulator 11106 , including sliding motion of the surgical tool 11200 along the longitudinal tool axis “LT-LT”. As the surgical tool 11200 slides along the tool axis LT-LT relative to manipulator 11106 (arrow 11112 c ), remote center 11114 remains fixed relative to base 11116 of manipulator 11106 .
  • Linkage 11108 of manipulator 11106 is driven by a series of motors 11120 . These motors actively move linkage 11108 in response to commands from a processor of a control system. As will be discussed in further detail below, motors 11120 are also employed to manipulate the surgical tool 11200 .
  • FIG. 99 An alternative set-up joint structure is illustrated in FIG. 99 .
  • a surgical tool 11200 is supported by an alternative manipulator structure 11106 ′ between two tissue manipulation tools.
  • an alternative manipulator structure 11106 ′ between two tissue manipulation tools.
  • Those of ordinary skill in the art will appreciate that various embodiments of the present invention may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled “Automated Endoscope System For Optimal Positioning”, the full disclosure of which is incorporated herein by reference.
  • FIG. 100 An exemplary non-limiting surgical tool 11200 that is well-adapted for use with a robotic system 11000 that has a tool drive assembly 11010 ( FIG. 101 ) that is operatively coupled to a master controller 11001 that is operable by inputs from an operator (i.e., a surgeon) is depicted in FIG. 100 .
  • the surgical tool 11200 includes a surgical end effector 12012 that comprises an endocutter.
  • the surgical tool 11200 generally includes an elongated shaft assembly 12008 that has a proximal closure tube 12040 and a distal closure tube 12042 that are coupled together by an articulation joint 12011 .
  • the surgical tool 11200 is operably coupled to the manipulator by a tool mounting portion, generally designated as 11300 .
  • the surgical tool 11200 further includes an interface 11230 which mechanically and electrically couples the tool mounting portion 11300 to the manipulator.
  • One form of interface 11230 is illustrated in FIGS. 101-105 .
  • the tool mounting portion 11300 includes a tool mounting plate 11302 that operably supports a plurality of (four are shown in FIG. 105 ) rotatable body portions, driven discs or elements 11304 , that each include a pair of pins 11306 that extend from a surface of the driven element 11304 .
  • Interface 11230 includes an adaptor portion 11240 that is configured to mountingly engage the mounting plate 11302 as will be further discussed below.
  • the adaptor portion 11240 may include an array of electrical connecting pins 11242 ( FIG. 103 ) which may be coupled to a memory structure by a circuit board within the tool mounting portion 11300 . While interface 11230 is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
  • the adapter portion 11240 generally includes a tool side 11244 and a holder side 11246 .
  • a plurality of rotatable bodies 11250 are mounted to a floating plate 11248 which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor 11240 .
  • Axial movement of the floating plate 11248 helps decouple the rotatable bodies 11250 from the tool mounting portion 11300 when the levers 11303 along the sides of the tool mounting portion housing 11301 are actuated (See FIG. 100 ).
  • Other mechanisms/arrangements may be employed for releasably coupling the tool mounting portion 11300 to the adaptor 11240 .
  • rotatable bodies 11250 are resiliently mounted to floating plate 11248 by resilient radial members which extend into a circumferential indentation about the rotatable bodies 11250 .
  • the rotatable bodies 11250 can move axially relative to plate 11248 by deflection of these resilient structures.
  • tabs 11252 (extending radially from the rotatable bodies 11250 ) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies 11250 about their axes.
  • This limited rotation can be used to help drivingly engage the rotatable bodies 11250 with drive pins 11272 of a corresponding tool holder portion 11270 of the robotic system 11000 , as the drive pins 11272 will push the rotatable bodies 11250 into the limited rotation position until the pins 11234 are aligned with (and slide into) openings 11256 ′.
  • Openings 11256 on the tool side 11244 and openings 11256 ′ on the holder side 11246 of rotatable bodies 11250 are configured to accurately align the driven elements 11304 ( FIG. 105 ) of the tool mounting portion 11300 with the drive elements 11271 of the tool holder 11270 .
  • the openings 11256 , 11256 ′ are at differing distances from the axis of rotation on their respective rotatable bodies 11250 so as to ensure that the alignment is not 180 degrees from its intended position.
  • each of the openings 11256 is slightly radially elongated so as to fittingly receive the pins 11306 in the circumferential orientation.
  • Openings 11256 on the tool side 11244 are offset by about 90 degrees from the openings 11256 ′ (shown in broken lines) on the holder side 11246 , as can be seen most clearly in FIG. 104 .
  • Various embodiments may further include an array of electrical connector pins 11242 located on holder side 11246 of adaptor 11240 , and the tool side 11244 of the adaptor 11240 may include slots 11258 ( FIG. 104 ) for receiving a pin array (not shown) from the tool mounting portion 11300 .
  • at least some of these electrical connections may be coupled to an adaptor memory device 11260 ( FIG. 103 ) by a circuit board of the adaptor 11240 .
  • a detachable latch arrangement 11239 may be employed to releasably affix the adaptor 11240 to the tool holder 11270 .
  • the term “tool drive assembly” when used in the context of the robotic system 11000 at least encompasses various embodiments of the adapter 11240 and tool holder 11270 and which has been generally designated as 11010 in FIG. 101 .
  • the tool holder 11270 may include a first latch pin arrangement 11274 that is sized to be received in corresponding clevis slots 11241 provided in the adaptor 11240 .
  • the tool holder 11270 may further have second latch pins 11276 that are sized to be retained in corresponding latch devises 11243 in the adaptor 11240 . See FIG. 103 .
  • a latch assembly 11245 is movably supported on the adapter 1240 and is biasable between a first latched position wherein the latch pins 11276 are retained within their respective latch clevis 11243 and an unlatched position wherein the second latch pins 11276 may be into or removed from the latch devises 11243 .
  • a spring or springs (not shown) are employed to bias the latch assembly into the latched position.
  • a lip on the tool side 11244 of adaptor 11240 may slidably receive laterally extending tabs of tool mounting housing 11301 .
  • the surgical tool 11200 includes a surgical end effector 12012 that comprises in this example, among other things, at least one component 12024 that is selectively movable between first and second positions relative to at least one other component 12022 in response to various control motions applied thereto as will be discussed in further detail below.
  • component 12022 comprises an elongated channel 12022 configured to operably support a surgical staple cartridge 12034 therein and component 12024 comprises a pivotally translatable clamping member, such as an anvil 12024 .
  • the surgical end effector 12012 are configured to maintain the anvil 12024 and elongated channel 12022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12012 .
  • the surgical end effector 12012 further includes a cutting instrument 12032 and a sled 12033 .
  • the cutting instrument 12032 may be, for example, a knife.
  • the surgical staple cartridge 12034 operably houses a plurality of surgical staples (not show) therein that are supported on movable staple drivers (not shown).
  • the cutting instrument 12032 As the cutting instrument 12032 is driven distally through a centrally-disposed slot (not shown) in the surgical staple cartridge 12034 , it forces the sled 12033 distally as well. As the sled 12033 is driven distally, its “wedge-shaped” configuration contacts the movable staple drivers and drives them vertically toward the closed anvil 12024 . The surgical staples are formed as they are driven into the forming surface located on the underside of the anvil 12024 . The sled 12033 may be part of the surgical staple cartridge 12034 , such that when the cutting instrument 12032 is retracted following the cutting operation, the sled 12033 does not retract.
  • the anvil 12024 may be pivotably opened and closed at a pivot point 12025 located at the proximal end of the elongated channel 12022 .
  • the anvil 12024 may also include a tab 12027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 12024 .
  • the elongated channel 12022 and the anvil 12024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above.
  • the surgical staple cartridge 12034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12034 , as was also described above.
  • the surgical end effector 12012 is attached to the tool mounting portion 11300 by an elongated shaft assembly 12008 according to various embodiments.
  • the shaft assembly 12008 includes an articulation joint generally indicated as 12011 that enables the surgical end effector 12012 to be selectively articulated about an articulation axis AA-AA that is substantially transverse to a longitudinal tool axis LT-LT. See FIG. 106 .
  • the articulation joint is omitted.
  • the shaft assembly 12008 may include a closure tube assembly 12009 that comprises a proximal closure tube 12040 and a distal closure tube 12042 that are pivotably linked by a pivot links 12044 and operably supported on a spine assembly generally depicted as 12049 .
  • the spine assembly 12049 comprises a distal spine portion 12050 that is attached to the elongated channel 12022 and is pivotally coupled to the proximal spine portion 12052 .
  • the closure tube assembly 12009 is configured to axially slide on the spine assembly 12049 in response to actuation motions applied thereto.
  • the distal closure tube 12042 includes an opening 12045 into which the tab 12027 on the anvil 12024 is inserted in order to facilitate opening of the anvil 12024 as the distal closure tube 12042 is moved axially in the proximal direction “PD”.
  • the closure tubes 12040 , 12042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above.
  • Components of the main drive shaft assembly e.g., the drive shafts 12048 , 12050
  • the tool mounting portion 11300 includes a rotational transmission assembly 12069 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12008 (and surgical end effector 12012 ) about the longitudinal tool axis LT-LT.
  • the proximal end 12060 of the proximal closure tube 12040 is rotatably supported on the tool mounting plate 11302 of the tool mounting portion 11300 by a forward support cradle 11309 and a closure sled 12100 that is also movably supported on the tool mounting plate 11302 .
  • the rotational transmission assembly 12069 includes a tube gear segment 12062 that is formed on (or attached to) the proximal end 12060 of the proximal closure tube 12040 for operable engagement by a rotational gear assembly 12070 that is operably supported on the tool mounting plate 11302 . As can be seen in FIG.
  • the rotational gear assembly 12070 in at least one embodiment, comprises a rotation drive gear 12072 that is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302 when the tool mounting portion 11300 is coupled to the tool drive assembly 11010 . See FIG. 105 .
  • the rotational gear assembly 12070 further comprises a rotary driven gear 12074 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the tube gear segment 12062 and the rotation drive gear 12072 .
  • Application of a first rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 12072 .
  • Rotation of the rotation drive gear 12072 ultimately results in the rotation of the elongated shaft assembly 12008 (and the surgical end effector 12012 ) about the longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 108 ).
  • the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the rotation of the elongated shaft assembly 12008 and surgical end effector 12012 about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly 12008 and surgical end effector 12012 in a second direction that is opposite to the first direction.
  • the closure of the anvil 12024 relative to the staple cartridge 12034 is accomplished by axially moving the closure tube assembly 12009 in the distal direction “DD” on the spine assembly 12049 .
  • the proximal end 12060 of the proximal closure tube 12040 is supported by the closure sled 12100 which comprises a portion of a closure transmission, generally depicted as 12099 .
  • the closure sled 12100 is configured to support the closure tube 12009 on the tool mounting plate 11320 such that the proximal closure tube 12040 can rotate relative to the closure sled 12100 , yet travel axially with the closure sled 12100 .
  • the closure sled 12100 has an upstanding tab 12101 that extends into a radial groove 12063 in the proximal end portion of the proximal closure tube 12040 .
  • the closure sled 12100 has a tab portion 12102 that extends through a slot 11305 in the tool mounting plate 11302 .
  • the tab portion 12102 is configured to retain the closure sled 12100 in sliding engagement with the tool mounting plate 11302 .
  • the closure sled 12100 has an upstanding portion 12104 that has a closure rack gear 12106 formed thereon.
  • the closure rack gear 12106 is configured for driving engagement with a closure gear assembly 12110 . See FIG. 110 .
  • the closure gear assembly 12110 includes a closure spur gear 12112 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302 . See FIG. 105 .
  • the closure gear assembly 12110 further includes a closure reduction gear set 12114 that is supported in meshing engagement with the closure spur gear 12112 . As can be seen in FIGS.
  • the closure reduction gear set 12114 includes a driven gear 12116 that is rotatably supported in meshing engagement with the closure spur gear 12112 .
  • the closure reduction gear set 12114 further includes a first closure drive gear 12118 that is in meshing engagement with a second closure drive gear 12120 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the closure rack gear 12106 .
  • the axial direction in which the closure tube assembly 12009 moves ultimately depends upon the direction in which the second driven element 11304 is rotated.
  • the closure sled 12100 will be driven in the distal direction “DD” and ultimately drive the closure tube assembly 11009 in the distal direction.
  • the end of the closure tube segment 12042 will engage a portion of the anvil 12024 and cause the anvil 12024 to pivot to a closed position.
  • the closure sled 12100 and shaft assembly 12008 will be driven in the proximal direction “PD”.
  • the opening 12045 therein interacts with the tab 12027 on the anvil 12024 to facilitate the opening thereof.
  • a spring (not shown) may be employed to bias the anvil to the open position when the distal closure tube 12042 has been moved to its starting position.
  • the various gears of the closure gear assembly 12110 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 12024 onto the tissue to be cut and stapled by the surgical end effector 12012 .
  • the gears of the closure transmission 12110 may be sized to generate approximately 70-120 pounds.
  • the cutting instrument 12032 is driven through the surgical end effector 12012 by a knife bar 12200 .
  • the knife bar 12200 may be fabricated from, for example, stainless steel or other similar material and has a substantially rectangular cross-sectional shape.
  • Such knife bar configuration is sufficiently rigid to push the cutting instrument 12032 through tissue clamped in the surgical end effector 12012 , while still being flexible enough to enable the surgical end effector 12012 to articulate relative to the proximal closure tube 12040 and the proximal spine portion 12052 about the articulation axis AA-AA as will be discussed in further detail below.
  • the proximal spine portion 12052 has a rectangular-shaped passage 12054 extending therethrough to provide support to the knife bar 12200 as it is axially pushed therethrough.
  • the proximal spine portion 12052 has a proximal end 12056 that is rotatably mounted to a spine mounting bracket 12057 attached to the tool mounting plate 11032 . See FIG. 113 .
  • Such arrangement permits the proximal spine portion 12052 to rotate, but not move axially, within the proximal closure tube 12040 .
  • the distal end 12202 of the knife bar 12200 is attached to the cutting instrument 12032 .
  • the proximal end 12204 of the knife bar 12200 is rotatably affixed to a knife rack gear 12206 such that the knife bar 12200 is free to rotate relative to the knife rack gear 12206 .
  • the knife rack gear 12206 is slidably supported within a rack housing 12210 that is attached to the tool mounting plate 11302 such that the knife rack gear 12206 is retained in meshing engagement with a knife gear assembly 12220 . More specifically and with reference to FIG.
  • the knife gear assembly 12220 includes a knife spur gear 12222 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302 . See FIG. 105 .
  • the knife gear assembly 12220 further includes a knife gear reduction set 12224 that includes a first knife driven gear 12226 and a second knife drive gear 12228 .
  • the knife gear reduction set 12224 is rotatably mounted to the tool mounting plate 11302 such that the firs knife driven gear 12226 is in meshing engagement with the knife spur gear 12222 .
  • the second knife drive gear 12228 is in meshing engagement with a third knife drive gear 12230 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the knife rack gear 12206 .
  • the gears of the knife gear assembly 12220 are sized to generate the forces needed to drive the cutting element 12032 through the tissue clamped in the surgical end effector 12012 and actuate the staples therein.
  • the gears of the knife drive assembly 12230 may be sized to generate approximately 40 to 100 pounds.
  • the surgical tool 11200 employs and articulation system 12007 that includes an articulation joint 12011 that enables the surgical end effector 12012 to be articulated about an articulation axis AA-AA that is substantially transverse to the longitudinal tool axis LT-LT.
  • the surgical tool 11200 includes first and second articulation bars 12250 a , 12250 b that are slidably supported within corresponding passages 12053 provided through the proximal spine portion 12052 . See FIGS. 113 and 115 .
  • the first and second articulation bars 12250 a , 12250 b are actuated by an articulation transmission generally designated as 12249 that is operably supported on the tool mounting plate 11032 .
  • Each of the articulation bars 12250 a , 12250 b has a proximal end 12252 that has a guide rod protruding therefrom which extend laterally through a corresponding slot in the proximal end portion of the proximal spine portion 12052 and into a corresponding arcuate slot in an articulation nut 12260 which comprises a portion of the articulation transmission.
  • FIG. 114 illustrates articulation bar 12250 a . It will be understood that articulation bar 12250 b is similarly constructed. As can be seen in FIG.
  • the articulation bar 12250 a has a guide rod 12254 which extends laterally through a corresponding slot 12058 in the proximal end portion 12056 of the distal spine portion 12050 and into a corresponding arcuate slot 12262 in the articulation nut 12260 .
  • the articulation bar 12250 a has a distal end 12251 a that is pivotally coupled to the distal spine portion 12050 by, for example, a pin 12253 a and articulation bar 12250 b has a distal end 12251 b that is pivotally coupled to the distal spine portion 12050 by, for example, a pin 12253 b .
  • the articulation bar 12250 a is laterally offset in a first lateral direction from the longitudinal tool axis LT-LT and the articulation bar 12250 b is laterally offset in a second lateral direction from the longitudinal tool axis LT-LT.
  • axial movement of the articulation bars 12250 a and 12250 b in opposing directions will result in the articulation of the distal spine portion 12050 as well as the surgical end effector 12012 attached thereto about the articulation axis AA-AA as will be discussed in further detail below.
  • Articulation of the surgical end effector 12012 is controlled by rotating the articulation nut 12260 about the longitudinal tool axis LT-LT.
  • the articulation nut 12260 is rotatably journaled on the proximal end portion 12056 of the distal spine portion 12050 and is rotatably driven thereon by an articulation gear assembly 12270 .
  • the articulation gear assembly 12270 includes an articulation spur gear 12272 that is coupled to a corresponding fourth one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302 . See FIG. 105 .
  • articulation spur gear 12272 when the interface 11230 is coupled to the tool holder 11270 .
  • An articulation drive gear 12274 is rotatably supported on the tool mounting plate 11302 in meshing engagement with the articulation spur gear 12272 and a gear portion 12264 of the articulation nut 12260 as shown.
  • the articulation nut 12260 has a shoulder 12266 formed thereon that defines an annular groove 12267 for receiving retaining posts 12268 therein.
  • Retaining posts 12268 are attached to the tool mounting plate 11302 and serve to prevent the articulation nut 12260 from moving axially on the proximal spine portion 12052 while maintaining the ability to be rotated relative thereto.
  • rotation of the articulation nut 12260 in a first direction will result in the axial movement of the articulation bar 12250 a in a distal direction “DD” and the axial movement of the articulation bar 12250 b in a proximal direction “PD” because of the interaction of the guide rods 12254 with the spiral slots 12262 in the articulation gear 12260 .
  • the surgical end effector 12012 may be selectively articulated about articulation axis “AA-AA” in a first direction “FD” by simultaneously moving the articulation bar 12250 a in the distal direction “DD” and the articulation bar 12250 b in the proximal direction “PD”.
  • the surgical end effector 12012 may be selectively articulated about the articulation axis “AA-AA” in a second direction “SD” by simultaneously moving the articulation bar 12250 a in the proximal direction “PD” and the articulation bar 12250 b in the distal direction “DD.” See FIG. 106 .
  • the tool embodiment described above employs an interface arrangement that is particularly well-suited for mounting the robotically controllable medical tool onto at least one form of robotic arm arrangement that generates at least four different rotary control motions.
  • rotary output motions may be selectively controlled through the programmable control systems employed by the robotic system/controller.
  • the tool arrangement described above may be well-suited for use with those robotic systems manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif., U.S.A., many of which may be described in detail in various patents incorporated herein by reference.
  • FIGS. 117-121 illustrate yet another surgical tool 12300 that may be effectively employed in connection with the robotic system 11000 that has a tool drive assembly that is operably coupled to a controller of the robotic system that is operable by inputs from an operator and which is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly.
  • the surgical tool 12300 includes a surgical end effector 12312 that includes an elongated channel 12322 and a pivotally translatable clamping member, such as an anvil 12324 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12312 .
  • the surgical end effector 12312 may include, in addition to the previously-mentioned elongated channel 12322 and anvil 12324 , a cutting instrument 12332 that has a sled portion 12333 formed thereon, a surgical staple cartridge 12334 that is seated in the elongated channel 12322 , and a rotary end effector drive shaft 12336 that has a helical screw thread formed thereon.
  • the cutting instrument 12332 may be, for example, a knife.
  • rotation of the end effector drive shaft 12336 will cause the cutting instrument 12332 and sled portion 12333 to axially travel through the surgical staple cartridge 12334 to move between a starting position and an ending position.
  • the direction of axial travel of the cutting instrument 12332 depends upon the direction in which the end effector drive shaft 12336 is rotated.
  • the anvil 12324 may be pivotably opened and closed at a pivot point 12325 connected to the proximate end of the elongated channel 12322 .
  • the anvil 12324 may also include a tab 12327 at its proximate end that operably interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 12324 .
  • the movement of the sled 12333 through the surgical staple cartridge 12334 causes the staples therein to be driven through the severed tissue and against the closed anvil 12324 , which turns the staples to fasten the severed tissue.
  • the elongated channel 12322 and the anvil 12324 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the end effector, as described above.
  • the surgical staple cartridge 12334 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12334 , as described above.
  • the surgical end effector 12312 is coupled to an elongated shaft assembly 12308 that is coupled to a tool mounting portion 12460 and defines a longitudinal tool axis LT-LT.
  • the elongated shaft assembly 12308 does not include an articulation joint.
  • the elongated shaft assembly 12308 comprises a hollow outer tube 12340 that is rotatably supported on a tool mounting plate 12462 of a tool mounting portion 12460 as will be discussed in further detail below.
  • the elongated shaft assembly 12308 further includes a distal spine shaft 12350 .
  • Distal spine shaft 12350 has a distal end portion 12354 that is coupled to, or otherwise integrally formed with, a distal stationary base portion 12360 that is non-movably coupled to the channel 12322 . See FIGS. 118-120 .
  • the distal spine shaft 12350 has a proximal end portion 12351 that is slidably received within a slot 12355 in a proximal spine shaft 12353 that is non-movably supported within the hollow outer tube 12340 by at least one support collar 12357 .
  • the surgical tool 12300 includes a closure tube 12370 that is constrained to only move axially relative to the distal stationary base portion 12360 .
  • the closure tube 12370 has a proximal end 12372 that has an internal thread 12374 formed therein that is in threaded engagement with a transmission arrangement, generally depicted as 12375 that is operably supported on the tool mounting plate 12462 .
  • the transmission arrangement 12375 includes a rotary drive shaft assembly, generally designated as 12381 .
  • the rotary drive shaft assembly 12381 When rotated, the rotary drive shaft assembly 12381 will cause the closure tube 12370 to move axially as will be describe in further detail below.
  • the rotary drive shaft assembly 12381 includes a closure drive nut 12382 of a closure clutch assembly generally designated as 12380 . More specifically, the closure drive nut 12382 has a proximal end portion 12384 that is rotatably supported relative to the outer tube 12340 and is in threaded engagement with the closure tube 12370 . For assembly purposes, the proximal end portion 12384 may be threadably attached to a retention ring 12386 .
  • Retention ring 12386 in cooperation with an end 12387 of the closure drive nut 12382 , defines an annular slot 12388 into which a shoulder 12392 of a locking collar 12390 extends.
  • the locking collar 12390 is non-movably attached (e.g., welded, glued, etc.) to the end of the outer tube 12340 .
  • Such arrangement serves to affix the closure drive nut 12382 to the outer tube 12340 while enabling the closure drive nut 12382 to rotate relative to the outer tube 12340 .
  • the closure drive nut 12382 further has a distal end 12383 that has a threaded portion 12385 that threadably engages the internal thread 12374 of the closure tube 12370 .
  • rotation of the closure drive nut 12382 will cause the closure tube 12370 to move axially as represented by arrow “D” in FIG. 119 .
  • Closure of the anvil 12324 and actuation of the cutting instrument 12332 are accomplished by control motions that are transmitted by a hollow drive sleeve 12400 .
  • the hollow drive sleeve 12400 is rotatably and slidably received on the distal spine shaft 12350 .
  • the drive sleeve 12400 has a proximal end portion 12401 that is rotatably mounted to the proximal spine shaft 12353 that protrudes from the tool mounting portion 12460 such that the drive sleeve 12400 may rotate relative thereto. See FIG. 118 .
  • FIGS. 118 As can also be seen in FIGS.
  • the drive sleeve 12400 is rotated about the longitudinal tool axis “LT-LT” by a drive shaft 12440 .
  • the drive shaft 12440 has a drive gear 12444 that is attached to its distal end 12442 and is in meshing engagement with a driven gear 12450 that is attached to the drive sleeve 12400 .
  • the drive sleeve 12400 further has a distal end portion 12402 that is coupled to a closure clutch 12410 portion of the closure clutch assembly 12380 that has a proximal face 12412 and a distal face 12414 .
  • the proximal face 12412 has a series of proximal teeth 12416 formed thereon that are adapted for selective engagement with corresponding proximal teeth cavities 12418 formed in the proximal end portion 12384 of the closure drive nut 12382 .
  • the distal face 12414 of the drive clutch portion 12410 has a series of distal teeth 12415 formed thereon that are adapted for selective engagement with corresponding distal teeth cavities 12426 formed in a face plate portion 12424 of a knife drive shaft assembly 12420 .
  • the knife drive shaft assembly 12420 comprises a hollow knife shaft segment 12430 that is rotatably received on a corresponding portion of the distal spine shaft 12350 that is attached to or protrudes from the stationary base 12360 .
  • a knife drive gear 12432 is attached to the drive shaft segment 12430 and is meshing engagement with a drive knife gear 12434 that is attached to the end effector drive shaft 12336 .
  • the sled 12333 may be made of, for example, plastic, and may have a sloped distal surface. As the sled 12333 traverses the elongated channel 12322 , the sloped forward surface of the sled 12333 pushes up or “drive” the staples in the surgical staple cartridge 12334 through the clamped tissue and against the anvil 12324 . The anvil 12324 turns or “forms” the staples, thereby stapling the severed tissue.
  • fire refers to the initiation of actions required to drive the cutting instrument and sled portion in a distal direction through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the severed tissue.
  • the transmission arrangement 12375 includes a rotational transmission assembly 12465 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12308 (and surgical end effector 12312 ) about the longitudinal tool axis LT-LT.
  • a proximal end 12341 of the outer tube 12340 is rotatably supported within a cradle arrangement 12343 attached to the tool mounting plate 12462 of the tool mounting portion 12460 .
  • a rotation gear 12345 is formed on or attached to the proximal end 12341 of the outer tube 12340 of the elongated shaft assembly 12308 for meshing engagement with a rotation gear assembly 12470 operably supported on the tool mounting plate 12462 .
  • a rotation drive gear 12472 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool drive assembly 11010 . See FIGS. 105 and 121 .
  • the rotation drive assembly 12470 further comprises a rotary driven gear 12474 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with the rotation gear 12345 and the rotation drive gear 12472 .
  • Closure of the anvil 12324 relative to the staple cartridge 12034 is accomplished by axially moving the closure tube 12370 in the distal direction “DD”. Axial movement of the closure tube 12370 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12382 . To apply the rotary control motion to the closure drive nut 12382 , the closure clutch 12410 must first be brought into meshing engagement with the proximal end portion 12384 of the closure drive nut 12382 .
  • the transmission arrangement 12375 further includes a shifter drive assembly 12480 that is operably supported on the tool mounting plate 12462 . More specifically and with reference to FIG.
  • a proximal end portion 12359 of the proximal spine portion 12353 extends through the rotation gear 12345 and is rotatably coupled to a shifter gear rack 12481 that is slidably affixed to the tool mounting plate 12462 through slots 12482 .
  • the shifter drive assembly 12480 further comprises a shifter drive gear 12483 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool holder 11270 . See FIGS. 105 and 121 .
  • the shifter drive assembly 12480 further comprises a shifter driven gear 12478 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with the shifter drive gear 12483 and the shifter rack gear 12482 .
  • Application of a second rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the shifter drive gear 12483 by virtue of being operably coupled thereto.
  • Rotation of the shifter drive gear 12483 ultimately results in the axial movement of the shifter gear rack 12482 and the proximal spine portion 12353 as well as the drive sleeve 12400 and the closure clutch 12410 attached thereto.
  • the direction of axial travel of the closure clutch 12410 depends upon the direction in which the shifter drive gear 12483 is rotated by the robotic system 11000 .
  • rotation of the shifter drive gear 12483 in a first rotary direction will result in the axial movement of the closure clutch 12410 in the proximal direction “PD” to bring the proximal teeth 12416 into meshing engagement with the proximal teeth cavities 12418 in the closure drive nut 12382 .
  • the closure drive nut 12382 is rotated by rotating the closure clutch 12410 .
  • Rotation of the closure clutch 12410 is controlled by applying rotary output motions to a rotary drive transmission portion 12490 of transmission arrangement 12375 that is operably supported on the tool mounting plate 12462 as shown in FIG. 121 .
  • the rotary drive transmission 12490 includes a rotary drive assembly 12490 ′ that includes a gear 12491 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool holder 11270 . See FIGS.
  • the rotary drive transmission 12490 further comprises a first rotary driven gear 12492 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with a second rotary driven gear 12493 and the rotary drive gear 12491 .
  • the second rotary driven gear 12493 is coupled to a proximal end portion 12443 of the drive shaft 12440 .
  • Rotation of the rotary drive gear 12491 in a first rotary direction will result in the rotation of the drive shaft 12440 in a first direction.
  • rotation of the rotary drive gear 12491 in a second rotary direction (opposite to the first rotary direction) will cause the drive shaft 12440 to rotate in a second direction.
  • the drive shaft 12440 has a drive gear 12444 that is attached to its distal end 12442 and is in meshing engagement with a driven gear 12450 that is attached to the drive sleeve 12400 .
  • rotation of the drive shaft 12440 results in rotation of the drive sleeve 12400 .
  • the robotic system 11000 may apply the first rotary output motion to the shifter drive gear 12483 which results in the axial movement of the closure clutch 12410 into meshing engagement with the closure drive nut 12382 (if it is not already in meshing engagement therewith). See FIG. 119 .
  • the robotic controller 11001 of the robotic system 11000 may then apply a second rotary output motion to the rotary drive gear 12492 which, as was described above, ultimately results in the rotation of the rotary drive nut 12382 in the first direction which results in the axial travel of the closure tube 12370 in the distal direction “DD”.
  • the closure tube 12370 As the closure tube 12370 moved in the distal direction, it contacts a portion of the anvil 12323 and causes the anvil 12324 to pivot to the closed position to clamp the target tissue between the anvil 12324 and the surgical staple cartridge 12334 .
  • the robotic controller 11001 determines that the anvil 12334 has been pivoted to the closed position by corresponding sensor(s) in the surgical end effector 12312 in communication therewith, the robotic system 11000 discontinues the application of the second rotary output motion to the rotary drive gear 12491 .
  • the robotic controller 11001 may also provide the surgeon with an indication that the anvil 12334 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 11001 .
  • the robotic controller 11001 then applies the primary rotary control motion 12483 to the shifter drive gear 12483 which results in the axial movement of the closure clutch 12410 into meshing engagement with the face plate portion 12424 of the knife drive shaft assembly 12420 . See FIG. 120 .
  • the robotic controller 11001 may then apply the second rotary output motion to the rotary drive gear 12492 which, as was described above, ultimately results in the axial movement of the cutting instrument 12332 and sled portion 12333 in the distal direction “DD” through the surgical staple cartridge 12334 .
  • the tissue clamped therein is severed.
  • the robotic controller 11001 As the sled portion 12333 is driven distally, it causes the staples within the surgical staple cartridge to be driven through the severed tissue into forming contact with the anvil 12324 .
  • the robotic controller 11001 discontinues the application of the second rotary output motion to the rotary drive gear 12491 . Thereafter, the robotic controller 11001 applies the secondary rotary output motion to the rotary drive gear 12491 which ultimately results in the axial travel of the cutting instrument 12332 and sled portion 12333 in the proximal direction “PD” to the starting position.
  • the robotic controller 11001 Once the robotic controller 11001 has determined that the cutting instrument 12324 has reached the staring position by means of sensor(s) in the surgical end effector 12312 that are in communication with the robotic controller 11001 , the robotic controller 11001 discontinues the application of the secondary rotary output motion to the rotary drive gear 12491 . Thereafter, the robotic controller 11001 applies the primary rotary output motion to the shifter drive gear 12483 to cause the closure clutch 12410 to move into engagement with the rotary drive nut 12382 .
  • the robotic controller 11001 then applies the secondary output motion to the rotary drive gear 12491 which ultimately results in the rotation of the rotary drive nut 12382 in the second direction to cause the closure tube 12370 to move in the proximal direction “PD”.
  • the closure tube 12370 has an opening 12345 therein that engages the tab 12327 on the anvil 12324 to cause the anvil 12324 to pivot to the open position.
  • a spring may also be employed to pivot the anvil 12324 to the open position when the closure tube 12370 has been returned to the starting position ( FIG. 118 ).
  • FIGS. 122-126 illustrate yet another surgical tool 12500 that may be effectively employed in connection with the robotic system 11000 .
  • the surgical tool 12500 includes a surgical end effector 12512 that includes a “first portion” in the form of an elongated channel 12522 and a “second movable portion” in the form of a pivotally translatable clamping member, such as an anvil 12524 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12512 .
  • the surgical end effector 12512 may include, in addition to the previously-mentioned elongated channel 12522 and anvil 12524 , a “third movable portion” in the form of a cutting instrument 12532 , a sled (not shown), and a surgical staple cartridge 12534 that is removably seated in the elongated channel 12522 .
  • the cutting instrument 12532 may be, for example, a knife.
  • the anvil 12524 may be pivotably opened and closed at a pivot point 12525 connected to the proximate end of the elongated channel 12522 .
  • the anvil 12524 may also include a tab 12527 at its proximate end that is configured to operably interface with a component of the mechanical closure system (described further below) to open and close the anvil 12524 .
  • the knife 12532 and sled travel longitudinally along the elongated channel 12522 , thereby cutting tissue clamped within the surgical end effector 12512 .
  • the movement of the sled along the elongated channel 12522 causes the staples of the surgical staple cartridge 12534 to be driven through the severed tissue and against the closed anvil 12524 , which turns the staples to fasten the severed tissue.
  • the elongated channel 12522 and the anvil 12524 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above.
  • the surgical staple cartridge 12534 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12534 , as described above.
  • the elongated channel 12522 of the surgical end effector 12512 is coupled to an elongated shaft assembly 12508 that is coupled to a tool mounting portion 12600 .
  • the elongated shaft assembly 12508 comprises a hollow spine tube 12540 that is non-movably coupled to a tool mounting plate 12602 of the tool mounting portion 12600 .
  • the proximal end 12523 of the elongated channel 12522 comprises a hollow tubular structure configured to be attached to the distal end 12541 of the spine tube 12540 .
  • the proximal end 12523 of the elongated channel 12522 is welded or glued to the distal end of the spine tube 12540 .
  • the surgical tool 12500 further includes an axially movable actuation member in the form of a closure tube 12550 that is constrained to move axially relative to the elongated channel 12522 and the spine tube 12540 .
  • the closure tube 12550 has a proximal end 12552 that has an internal thread 12554 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 12560 . More specifically, the closure drive nut 12560 has a proximal end portion 12562 that is rotatably supported relative to the elongated channel 12522 and the spine tube 12540 .
  • the proximal end portion 12562 is threadably attached to a retention ring 12570 .
  • the retention ring 12570 is received in a groove 12529 formed between a shoulder 12527 on the proximal end 12523 of the elongated channel 12522 and the distal end 12541 of the spine tube 12540 .
  • Such arrangement serves to rotatably support the closure drive nut 12560 within the elongated channel 12522 . Rotation of the closure drive nut 12560 will cause the closure tube 12550 to move axially as represented by arrow “D” in FIG. 123 .
  • a drive member which, in at least one embodiment, comprises a knife bar 12580 that has a distal end portion 12582 that is rotatably coupled to the cutting instrument 12532 such that the knife bar 12580 may rotate relative to the cutting instrument 12582 .
  • the closure drive nut 12560 has a slot 12564 therein through which the knife bar 12580 can slidably extend. Such arrangement permits the knife bar 12580 to move axially relative to the closure drive nut 12560 .
  • the tool mounting portion 12600 is configured to receive a corresponding first rotary output motion from the robotic system 11000 and convert that first rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12508 about the longitudinal tool axis LT-LT.
  • a proximal end 12542 of the hollow spine tube 12540 is rotatably supported within a cradle arrangement 12603 attached to a tool mounting plate 12602 of the tool mounting portion 12600 .
  • Various embodiments of the surgical tool 12500 further include a transmission arrangement, generally depicted as 12605 , that is operably supported on the tool mounting plate 12602 .
  • the transmission arrangement 12605 include a rotation gear 12544 that is formed on or attached to the proximal end 12542 of the spine tube 12540 for meshing engagement with a rotation drive assembly 12610 that is operably supported on the tool mounting plate 12602 .
  • a rotation drive gear 12612 is coupled to a corresponding first one of the rotational bodies, driven discs or elements 11304 on the adapter side of the tool mounting plate 12602 when the tool mounting portion 12600 is coupled to the tool holder 11270 . See FIGS. 105 and 126 .
  • the rotation drive assembly 12610 further comprises a rotary driven gear 12614 that is rotatably supported on the tool mounting plate 12602 in meshing engagement with the rotation gear 12544 and the rotation drive gear 12612 .
  • Application of a first rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven rotational body 11304 will thereby cause rotation of the rotation drive gear 12612 by virtue of being operably coupled thereto.
  • Rotation of the rotation drive gear 12612 ultimately results in the rotation of the elongated shaft assembly 12508 (and the end effector 12512 ) about the longitudinal tool axis LT-LT.
  • Closure of the anvil 12524 relative to the surgical staple cartridge 12534 is accomplished by axially moving the closure tube 12550 in the distal direction “DD”. Axial movement of the closure tube 12550 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12382 . In various embodiments, the closure drive nut 12560 is rotated by applying a rotary output motion to the knife bar 12580 . Rotation of the knife bar 12580 is controlled by applying rotary output motions to a rotary closure system 12620 that is operably supported on the tool mounting plate 12602 as shown in FIG. 126 .
  • the rotary closure system 12620 includes a closure drive gear 12622 that is coupled to a corresponding second one of the driven rotatable body portions discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12600 is coupled to the tool holder 11270 . See FIGS. 105 and 126 .
  • the closure drive gear 12622 in at least one embodiment, is in meshing driving engagement with a closure gear train, generally depicted as 12623 .
  • the closure gear drive rain 12623 comprises a first driven closure gear 12624 that is rotatably supported on the tool mounting plate 12602 .
  • the first closure driven gear 12624 is attached to a second closure driven gear 12626 by a drive shaft 12628 .
  • the second closure driven gear 12626 is in meshing engagement with a third closure driven gear 12630 that is rotatably supported on the tool mounting plate 12602 .
  • Rotation of the closure drive gear 12622 in a second rotary direction will result in the rotation of the third closure driven gear 12630 in a second direction.
  • rotation of the closure drive gear 12483 in a secondary rotary direction (opposite to the second rotary direction) will cause the third closure driven gear 12630 to rotate in a secondary direction.
  • a drive shaft assembly 12640 is coupled to a proximal end of the knife bar 12580 .
  • the drive shaft assembly 12640 includes a proximal portion 12642 that has a square cross-sectional shape.
  • the proximal portion 12642 is configured to slidably engage a correspondingly shaped aperture in the third driven gear 12630 .
  • Such arrangement results in the rotation of the drive shaft assembly 12640 (and knife bar 12580 ) when the third driven gear 12630 is rotated.
  • the drive shaft assembly 12640 is axially advanced in the distal and proximal directions by a knife drive assembly 12650 .
  • One form of the knife drive assembly 12650 comprises a rotary drive gear 12652 that is coupled to a corresponding third one of the driven rotatable body portions, discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12600 is coupled to the tool holder 11270 . See FIGS. 105 and 126 .
  • the rotary driven gear 12652 is in meshing driving engagement with a gear train, generally depicted as 12653 .
  • the gear train 12653 further comprises a first rotary driven gear assembly 12654 that is rotatably supported on the tool mounting plate 12602 .
  • the first rotary driven gear assembly 12654 is in meshing engagement with a third rotary driven gear assembly 12656 that is rotatably supported on the tool mounting plate 12602 and which is in meshing engagement with a fourth rotary driven gear assembly 12658 that is in meshing engagement with a threaded portion 12644 of the drive shaft assembly 12640 .
  • Rotation of the rotary drive gear 12652 in a third rotary direction will result in the axial advancement of the drive shaft assembly 12640 and knife bar 12580 in the distal direction “DD”.
  • rotation of the rotary drive gear 12652 in a tertiary rotary direction (opposite to the third rotary direction) will cause the drive shaft assembly 12640 and the knife bar 12580 to move in the proximal direction.
  • the robotic system 11000 can orient the surgical end effector 12512 in position adjacent the target tissue to be cut and stapled. If the anvil 12524 is not already in the open position ( FIG. 123 ), the robotic system 11000 may apply the second rotary output motion to the closure drive gear 12622 which results in the rotation of the knife bar 12580 in a second direction. Rotation of the knife bar 12580 in the second direction results in the rotation of the closure drive nut 12560 in a second direction.
  • the closure tube 12550 moves in the proximal direction “PD”.
  • the tab 12527 on the anvil 12524 interfaces with the opening 12555 in the closure tube 12550 and causes the anvil 12524 to pivot to the open position.
  • a spring (not shown) may be employed to pivot the anvil 12354 to the open position when the closure tube 12550 has been returned to the starting position ( FIG. 123 ).
  • the opened surgical end effector 12512 may then be manipulated by the robotic system 11000 to position the target tissue between the open anvil 12524 and the surgical staple cartridge 12534 .
  • the surgeon may initiate the closure process by activating the robotic control system 11000 to apply the second rotary output motion to the closure drive gear 12622 which, as was described above, ultimately results in the rotation of the closure drive nut 12382 in the second direction which results in the axial travel of the closure tube 12250 in the distal direction “DD”.
  • the closure tube 12550 moves in the distal direction, it contacts a portion of the anvil 12524 and causes the anvil 12524 to pivot to the closed position to clamp the target tissue between the anvil 12524 and the staple cartridge 12534 .
  • the robotic controller 11001 determines that the anvil 12524 has been pivoted to the closed position by corresponding sensor(s) in the end effector 12512 that are in communication therewith, the robotic controller 11001 discontinues the application of the second rotary output motion to the closure drive gear 12622 .
  • the robotic controller 11001 may also provide the surgeon with an indication that the anvil 12524 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 11001 .
  • the robotic controller 11001 After the robotic controller 11001 has determined that the anvil 12524 is in the closed position, the robotic controller 11001 then applies the third rotary output motion to the rotary drive gear 12652 which results in the axial movement of the drive shaft assembly 12640 and knife bar 12580 in the distal direction “DD”. As the cutting instrument 12532 moves distally through the surgical staple cartridge 12534 , the tissue clamped therein is severed. As the sled portion (not shown) is driven distally, it causes the staples within the surgical staple cartridge 12534 to be driven through the severed tissue into forming contact with the anvil 12524 .
  • the robotic controller 11001 Once the robotic controller 11001 has determined that the cutting instrument 12532 has reached the end position within the surgical staple cartridge 12534 by means of sensor(s) in the surgical end effector 12512 that are in communication with the robotic controller 11001 , the robotic controller 11001 discontinues the application of the second rotary output motion to the rotary drive gear 12652 . Thereafter, the robotic controller 11001 applies the secondary rotary control motion to the rotary drive gear 12652 which ultimately results in the axial travel of the cutting instrument 12532 and sled portion in the proximal direction “PD” to the starting position.
  • the robotic controller 11001 discontinues the application of the secondary rotary output motion to the rotary drive gear 12652 . Thereafter, the robotic controller 11001 may apply the secondary rotary output motion to the closure drive gear 12622 which results in the rotation of the knife bar 12580 in a secondary direction. Rotation of the knife bar 12580 in the secondary direction results in the rotation of the closure drive nut 12560 in a secondary direction. As the closure drive nut 12560 rotates in the secondary direction, the closure tube 12550 moves in the proximal direction “PD” to the open position.
  • FIGS. 127-132B illustrate yet another surgical tool 12700 that may be effectively employed in connection with the robotic system 11000 .
  • the surgical tool 12700 includes a surgical end effector 12712 that includes a “first portion” in the form of an elongated channel 12722 and a “second movable portion” in on form comprising a pivotally translatable clamping member, such as an anvil 12724 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12712 .
  • the surgical end effector 12712 may include, in addition to the previously-mentioned channel 12722 and anvil 12724 , a “third movable portion” in the form of a cutting instrument 12732 , a sled (not shown), and a surgical staple cartridge 12734 that is removably seated in the elongated channel 12722 .
  • the cutting instrument 12732 may be, for example, a knife.
  • the anvil 12724 may be pivotably opened and closed at a pivot point 12725 connected to the proximal end of the elongated channel 12722 .
  • the anvil 12724 may also include a tab 12727 at its proximal end that interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 12724 .
  • the knife 12732 and sled When actuated, the knife 12732 and sled to travel longitudinally along the elongated channel 12722 , thereby cutting tissue clamped within the surgical end effector 12712 .
  • the movement of the sled along the elongated channel 12722 causes the staples of the surgical staple cartridge 12734 to be driven through the severed tissue and against the closed anvil 12724 , which turns the staples to fasten the severed tissue.
  • the elongated channel 12722 and the anvil 12724 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above.
  • the surgical staple cartridge 12734 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12734 , as described above.
  • the elongated channel 12722 of the surgical end effector 12712 is coupled to an elongated shaft assembly 12708 that is coupled to a tool mounting portion 12900 .
  • the elongated shaft assembly 12708 may include an articulation joint to permit the surgical end effector 12712 to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT.
  • the elongated shaft assembly 12708 comprises a hollow spine tube 12740 that is non-movably coupled to a tool mounting plate 12902 of the tool mounting portion 12900 . As can be seen in FIGS.
  • the proximal end 12723 of the elongated channel 12722 comprises a hollow tubular structure that is attached to the spine tube 12740 by means of a mounting collar 12790 .
  • a cross-sectional view of the mounting collar 12790 is shown in FIG. 130 .
  • the mounting collar 12790 has a proximal flanged end 12791 that is configured for attachment to the distal end of the spine tube 12740 .
  • the proximal flanged end 12791 of the mounting collar 12790 is welded or glued to the distal end of the spine tube 12740 .
  • the mounting collar 12790 further has a mounting hub portion 12792 that is sized to receive the proximal end 12723 of the elongated channel 12722 thereon.
  • the proximal end 12723 of the elongated channel 12722 is non-movably attached to the mounting hub portion 12792 by, for example, welding, adhesive, etc.
  • the surgical tool 12700 further includes an axially movable actuation member in the form of a closure tube 12750 that is constrained to move axially relative to the elongated channel 12722 .
  • the closure tube 12750 has a proximal end 12752 that has an internal thread 12754 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 12760 .
  • the closure drive nut 12760 has a proximal end portion 12762 that is rotatably supported relative to the elongated channel 12722 and the spine tube 12740 .
  • the proximal end portion 12762 is threadably attached to a retention ring 12770 .
  • the retention ring 12770 is received in a groove 12729 formed between a shoulder 12727 on the proximal end 12723 of the channel 12722 and the mounting hub 12729 of the mounting collar 12790 .
  • Such arrangement serves to rotatably support the closure drive nut 12760 within the channel 12722 . Rotation of the closure drive nut 12760 will cause the closure tube 12750 to move axially as represented by arrow “D” in FIG. 128 .
  • a drive member Extending through the spine tube 12740 , the mounting collar 12790 , and the closure drive nut 12760 is a drive member, which in at least one embodiment, comprises a knife bar 12780 that has a distal end portion 12782 that is coupled to the cutting instrument 12732 .
  • the mounting collar 12790 has a passage 12793 therethrough for permitting the knife bar 12780 to slidably pass therethrough.
  • the closure drive nut 12760 has a slot 12764 therein through which the knife bar 12780 can slidably extend. Such arrangement permits the knife bar 12780 to move axially relative to the closure drive nut 12760 .
  • Actuation of the anvil 12724 is controlled by a rotary driven closure shaft 12800 .
  • a distal end portion 12802 of the closure drive shaft 12800 extends through a passage 12794 in the mounting collar 12790 and a closure gear 12804 is attached thereto.
  • the closure gear 12804 is configured for driving engagement with the inner surface 12761 of the closure drive nut 12760 .
  • rotation of the closure shaft 12800 will also result in the rotation of the closure drive nut 12760 .
  • the axial direction in which the closure tube 12750 moves ultimately depends upon the direction in which the closure shaft 12800 and the closure drive nut 12760 are rotated.
  • the closure tube 12750 in response to one rotary closure motion received from the robotic system 11000 , the closure tube 12750 will be driven in the distal direction “DD”. As the closure tube 12750 is driven distally, the opening 12745 will engage the tab 12727 on the anvil 12724 and cause the anvil 12724 to pivot to a closed position. Upon application of an opening rotary motion from the robotic system 11000 , the closure tube 12750 will be driven in the proximal direction “PD” and pivot the anvil 12724 to the open position.
  • a spring (not shown) may be employed to bias the anvil 12724 to the open position ( FIG. 128 ).
  • the tool mounting portion 12900 is configured to receive a corresponding first rotary output motion from the robotic system 11000 for rotating the elongated shaft assembly 12708 about the tool axis LT-LT.
  • a proximal end 12742 of the hollow spine tube 12740 is rotatably supported within a cradle arrangement 12903 and a bearing assembly 12904 that are attached to a tool mounting plate 12902 of the tool mounting portion 12900 .
  • a rotation gear 12744 is formed on or attached to the proximal end 12742 of the spine tube 12740 for meshing engagement with a rotation drive assembly 12910 that is operably supported on the tool mounting plate 12902 .
  • a rotation drive gear 12912 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12602 when the tool mounting portion 12600 is coupled to the tool holder 11270 . See FIGS. 105 and 132 .
  • the rotation drive assembly 12910 further comprises a rotary driven gear 12914 that is rotatably supported on the tool mounting plate 12902 in meshing engagement with the rotation gear 12744 and the rotation drive gear 12912 .
  • Closure of the anvil 12724 relative to the staple cartridge 12734 is accomplished by axially moving the closure tube 12750 in the distal direction “DD”. Axial movement of the closure tube 12750 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12760 . In various embodiments, the closure drive nut 12760 is rotated by applying a rotary output motion to the closure drive shaft 12800 . As can be seen in FIG. 132 , a proximal end portion 12806 of the closure drive shaft 12800 has a driven gear 12808 thereon that is in meshing engagement with a closure drive assembly 12920 .
  • the closure drive system 12920 includes a closure drive gear 12922 that is coupled to a corresponding second one of the driven rotational bodies or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12900 is coupled to the tool holder 11270 . See FIGS. 105 and 132 .
  • the closure drive gear 12922 is supported in meshing engagement with a closure gear train, generally depicted as 12923 .
  • the closure gear rain 12923 comprises a first driven closure gear 12924 that is rotatably supported on the tool mounting plate 12902 .
  • the first closure driven gear 12924 is attached to a second closure driven gear 12926 by a drive shaft 12928 .
  • the second closure driven gear 12926 is in meshing engagement with a planetary gear assembly 12930 .
  • the planetary gear assembly 12930 includes a driven planetary closure gear 12932 that is rotatably supported within the bearing assembly 12904 that is mounted on tool mounting plate 12902 .
  • the proximal end portion 12806 of the closure drive shaft 12800 is rotatably supported within the proximal end portion 12742 of the spine tube 12740 such that the driven gear 12808 is in meshing engagement with central gear teeth 12934 formed on the planetary gear 12932 .
  • FIG. 132 and 132B the proximal end portion 12806 of the closure drive shaft 12800 is rotatably supported within the proximal end portion 12742 of the spine tube 12740 such that the driven gear 12808 is in meshing engagement with central gear teeth 12934 formed on the planetary gear 12932 .
  • two additional support gears 12936 are attached to or rotatably supported relative to the proximal end portion 12742 of the spine tube 12740 to provide bearing support thereto.
  • Such arrangement with the planetary gear assembly 12930 serves to accommodate rotation of the spine shaft 12740 by the rotation drive assembly 12910 while permitting the closure driven gear 12808 to remain in meshing engagement with the closure drive system 12920 .
  • rotation of the closure drive gear 12922 in a first direction will ultimately result in the rotation of the closure drive shaft 12800 and closure drive nut 12760 which will ultimately result in the closure of the anvil 12724 as described above.
  • rotation of the closure drive gear 12922 in a second opposite direction will ultimately result in the rotation of the closure drive nut 12760 in an opposite direction which results in the opening of the anvil 12724 .
  • the proximal end 12784 of the knife bar 12780 has a threaded shaft portion 12786 attached thereto which is in driving engagement with a knife drive assembly 12940 .
  • the threaded shaft portion 12786 is rotatably supported by a bearing 12906 attached to the tool mounting plate 12902 .
  • Such arrangement permits the threaded shaft portion 12786 to rotate and move axially relative to the tool mounting plate 12902 .
  • the knife bar 12780 is axially advanced in the distal and proximal directions by the knife drive assembly 12940 .
  • One form of the knife drive assembly 12940 comprises a rotary drive gear 12942 that is coupled to a corresponding third one of the rotatable bodies, driven discs or elements 11304 on the adapter side of the tool mounting plate 12902 when the tool mounting portion 12900 is coupled to the tool holder 11270 . See FIGS. 105 and 132 .
  • the rotary drive gear 12942 is in meshing engagement with a knife gear train, generally depicted as 12943 .
  • the knife gear train 12943 comprises a first rotary driven gear assembly 12944 that is rotatably supported on the tool mounting plate 12902 .
  • the first rotary driven gear assembly 12944 is in meshing engagement with a third rotary driven gear assembly 12946 that is rotatably supported on the tool mounting plate 12902 and which is in meshing engagement with a fourth rotary driven gear assembly 12948 that is in meshing engagement with the threaded portion 12786 of the knife bar 12780 .
  • Rotation of the rotary drive gear 12942 in one direction will result in the axial advancement of the knife bar 12780 in the distal direction “DD”.
  • rotation of the rotary drive gear 12942 in an opposite direction will cause the knife bar 12780 to move in the proximal direction.
  • Tool 12700 may otherwise be used as described above.
  • FIGS. 133 and 134 illustrate a surgical tool embodiment 12700 ′ that is substantially identical to tool 12700 that was described in detail above.
  • tool 12700 ′ includes a pressure sensor 12950 that is configured to provide feedback to the robotic controller 11001 concerning the amount of clamping pressure experienced by the anvil 12724 .
  • the pressure sensor may comprise a spring biased contact switch.
  • the pressure sensor For a continuous signal, it would use either a cantilever beam with a strain gage on it or a dome button top with a strain gage on the inside.
  • Another version may comprise an off switch that contacts only at a known desired load. Such arrangement would include a dome on the based wherein the dome is one electrical pole and the base is the other electrical pole.
  • Such arrangement permits the robotic controller 11001 to adjust the amount of clamping pressure being applied to the tissue within the surgical end effector 12712 by adjusting the amount of closing pressure applied to the anvil 12724 .
  • Such pressure sensor arrangement may be effectively employed with several of the surgical tool embodiments described herein as well as their equivalent structures.
  • FIG. 135 illustrates a portion of another surgical tool 13000 that may be effectively used in connection with a robotic system 11000 .
  • the surgical tool 13003 employs on-board motor(s) for powering various components of a surgical end effector cutting instrument.
  • the surgical tool 13000 includes a surgical end effector in the form of an endocutter (not shown) that has an anvil (not shown) and surgical staple cartridge arrangement (not shown) of the types and constructions described above.
  • the surgical tool 13000 also includes an elongated shaft (not shown) and anvil closure arrangement (not shown) of the types described above.
  • the end effector includes a cutting instrument 13002 that is coupled to a knife bar 13003 .
  • the surgical tool 13000 includes a tool mounting portion 13010 that includes a tool mounting plate 13012 that is configured to mountingly interface with the adaptor portion 11240 ′ which is coupled to the robotic system 11000 in the various manners described above.
  • the tool mounting portion 13010 is configured to operably support a transmission arrangement 13013 thereon.
  • the adaptor portion 11240 ′ may be identical to the adaptor portion 11240 described in detail above without the powered rotation bodies and disc members employed by adapter 11240 . In other embodiments, the adaptor portion 11240 ′ may be identical to adaptor portion 11240 .
  • the tool mounting plate 13012 is configured to at least house a first firing motor 13011 for supplying firing and retraction motions to the knife bar 13003 which is coupled to or otherwise operably interfaces with the cutting instrument 13002 .
  • the tool mounting plate 13012 has an array of electrical connecting pins 13014 which are configured to interface with the slots 11258 ( FIG. 104 ) in the adapter 11240 ′.
  • Such arrangement permits the controller 11001 of the robotic system 11000 to provide control signals to the electronic control circuit 13020 of the surgical tool 13000 . While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
  • Control circuit 13020 is shown in schematic form in FIG. 135 .
  • the control circuit 13020 includes a power supply in the form of a battery 13022 that is coupled to an on-off solenoid powered switch 13024 .
  • Control circuit 13020 further includes an on/off firing solenoid 13026 that is coupled to a double pole switch 13028 for controlling the rotational direction of the motor 13011 .
  • switch 13024 will permit battery 13022 to supply power to the double pole switch 13028 .
  • the controller 11001 of the robotic system 11000 will also supply an appropriate signal to the double pole switch 13028 to supply power to the motor 13011 .
  • the double pole switch 13028 When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 13002 distally through tissue clamped in the surgical end effector, the double pole switch 13028 will be in a first position. When it is desired to retract the cutting instrument 13002 to the starting position, the double pole switch 13028 will be moved to the second position by the controller 11001 .
  • a gear box 13030 that is sized, in cooperation with a firing gear train 13031 that, in at least one non-limiting embodiment, comprises a firing drive gear 13032 that is in meshing engagement with a firing driven gear 13034 for generating a desired amount of driving force necessary to drive the cutting instrument 13002 through tissue and to drive and form staples in the various manners described herein.
  • the driven gear 13034 is coupled to a screw shaft 13036 that is in threaded engagement with a screw nut arrangement 13038 that is constrained to move axially (represented by arrow “D”).
  • the screw nut arrangement 13038 is attached to the firing bar 13003 .
  • FIG. 136 illustrates a portion of another surgical tool 13000 ′ that is substantially identical to tool 13000 described above, except that the driven gear 13034 is attached to a drive shaft 13040 .
  • the drive shaft 13040 is attached to a second driver gear 13042 that is in meshing engagement with a third driven gear 13044 that is in meshing engagement with a screw 13046 coupled to the firing bar 13003 .
  • FIG. 137 illustrates another surgical tool 13200 that may be effectively used in connection with a robotic system 11000 .
  • the surgical tool 13200 includes a surgical end effector 13212 that in one non-limiting form, comprises a component portion that is selectively movable between first and second positions relative to at least one other end effector component portion.
  • the surgical tool 13200 employs on-board motors for powering various components of a transmission arrangement 13305 .
  • the surgical end effector 13212 includes an elongated channel 13222 that operably supports a surgical staple cartridge 13234 .
  • the elongated channel 13222 has a proximal end 13223 that slidably extends into a hollow elongated shaft assembly 13208 that is coupled to a tool mounting portion 13300 .
  • the surgical end effector 13212 includes an anvil 13224 that is pivotally coupled to the elongated channel 13222 by a pair of trunnions 13225 that are received within corresponding openings 13229 in the elongated channel 13222 .
  • a distal end portion 13209 of the shaft assembly 13208 includes an opening 13245 into which a tab 13227 on the anvil 13224 is inserted in order to open the anvil 13224 as the elongated channel 13222 is moved axially in the proximal direction “PD” relative to the distal end portion 13209 of the shaft assembly 13208 .
  • a spring (not shown) may be employed to bias the anvil 13224 to the open position.
  • the surgical tool 13200 includes a tool mounting portion 13300 that includes a tool mounting plate 13302 that is configured to operably support the transmission arrangement 13305 and to mountingly interface with the adaptor portion 11240 ′ which is coupled to the robotic system 11000 in the various manners described above.
  • the adaptor portion 11240 ′ may be identical to the adaptor portion 11240 described in detail above without the powered disc members employed by adapter 11240 . In other embodiments, the adaptor portion 11240 ′ may be identical to adaptor portion 11240 .
  • the surgical tool 13200 will not employ or require any of the mechanical (i.e., non-electrical) actuation motions from the tool holder portion 11270 to power the surgical end effector 13200 components.
  • Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions from the tool holder portion 11270 (as described hereinabove) to power/actuate one or more of the surgical end effector components while also employing one or more motors within the tool mounting portion to power one or more other components of the surgical end effector.
  • the tool mounting plate 13302 is configured to support a first firing motor 13310 for supplying firing and retraction motions to the transmission arrangement 13305 to drive a knife bar 13335 that is coupled to a cutting instrument 13332 of the type described above.
  • the tool mounting plate 13212 has an array of electrical connecting pins 13014 which are configured to interface with the slots 11258 ( FIG. 104 ) in the adapter 11240 ′.
  • Such arrangement permits the controller 11001 of the robotic system 11000 to provide control signals to the electronic control circuits 13320 , 13340 of the surgical tool 13200 . While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
  • the first control circuit 13320 includes a first power supply in the form of a first battery 13322 that is coupled to a first on-off solenoid powered switch 13324 .
  • the first firing control circuit 13320 further includes a first on/off firing solenoid 13326 that is coupled to a first double pole switch 13328 for controlling the rotational direction of the first firing motor 13310 .
  • the robotic controller 11001 supplies an appropriate control signal
  • the first switch 13324 will permit the first battery 13322 to supply power to the first double pole switch 13328 .
  • the robotic controller 11001 will also supply an appropriate signal to the first double pole switch 13328 to supply power to the first firing motor 13310 .
  • the first switch 13328 When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 13232 distally through tissue clamped in the surgical end effector 13212 , the first switch 13328 will be positioned in a first position by the robotic controller 11001 . When it is desired to retract the cutting instrument 13232 to the starting position, the robotic controller 11001 will send the appropriate control signal to move the first switch 13328 to the second position.
  • a first gear box 13330 that is sized, in cooperation with a firing drive gear 13332 coupled thereto that operably interfaces with a firing gear train 13333 .
  • the firing gear train 13333 comprises a firing driven gear 13334 that is in meshing engagement with drive gear 13332 , for generating a desired amount of driving force necessary to drive the cutting instrument 13232 through tissue and to drive and form staples in the various manners described herein.
  • the driven gear 13334 is coupled to a drive shaft 13335 that has a second driven gear 13336 coupled thereto.
  • the second driven gear 13336 is supported in meshing engagement with a third driven gear 13337 that is in meshing engagement with a fourth driven gear 13338 .
  • the fourth driven gear 13338 is in meshing engagement with a threaded proximal portion 13339 of the knife bar 13235 that is constrained to move axially.
  • the opening and closing of the anvil 13224 is controlled by axially moving the elongated channel 13222 relative to the elongated shaft assembly 13208 .
  • the axial movement of the elongated channel 13222 is controlled by a closure control system 13339 .
  • the closure control system 13339 includes a closure shaft 13340 which has a hollow threaded end portion 13341 that threadably engages a threaded closure rod 13342 .
  • the threaded end portion 13341 is rotatably supported in a spine shaft 13343 that operably interfaces with the tool mounting portion 13300 and extends through a portion of the shaft assembly 13208 as shown.
  • the closure system 13339 further comprises a closure control circuit 13350 that includes a second power supply in the form of a second battery 13352 that is coupled to a second on-off solenoid powered switch 13354 .
  • Closure control circuit 13350 further includes a second on/off firing solenoid 13356 that is coupled to a second double pole switch 13358 for controlling the rotation of a second closure motor 13360 .
  • the robotic controller 11001 supplies an appropriate control signal
  • the second switch 13354 will permit the second battery 13352 to supply power to the second double pole switch 13354 .
  • the robotic controller 11001 will also supply an appropriate signal to the second double pole switch 13358 to supply power to the second motor 13360 .
  • the second switch 13348 When it is desired to close the anvil 13224 , the second switch 13348 will be in a first position. When it is desired to open the anvil 13224 , the second switch 13348 will be moved to a second position.
  • FIG. 137 depicts the end effector 13212 in the open position. As indicated above, when the threaded closure rod 13342 is in the position depicted in FIG.
  • a spring biases the anvil 13224 to the open position.
  • the robotic controller 11001 will activate the second motor 13360 to rotate the closure shaft 13340 to draw the threaded closure rod 13342 and the channel 13222 in the proximal direction ‘PD’.
  • the anvil 13224 contacts the distal end portion 13209 of the shaft 13208 , the anvil 13224 is pivoted to the closed position.
  • the robotic system 11000 can orient the end effector 13212 in position adjacent the target tissue to be cut and stapled. If the anvil 13224 is not already in the open position, the robotic controller 11001 may activate the second closure motor 13360 to drive the channel 13222 in the distal direction to the position depicted in FIG. 137 . Once the robotic controller 11001 determines that the surgical end effector 13212 is in the open position by sensor(s) in the and effector and/or the tool mounting portion 13300 , the robotic controller 11001 may provide the surgeon with a signal to inform the surgeon that the anvil 13224 may then be closed.
  • the surgeon may then commence the closure process by activating the robotic controller 11001 to apply a closure control signal to the second closure motor 13360 .
  • the second closure motor 13360 applies a rotary motion to the closure shaft 13340 to draw the channel 13222 in the proximal direction “PD” until the anvil 13224 has been pivoted to the closed position.
  • the robotic controller 11001 determines that the anvil 13224 has been moved to the closed position by sensor(s) in the surgical end effector 13212 and/or in the tool mounting portion 13300 that are in communication with the robotic control system, the motor 13360 may be deactivated. Thereafter, the firing process may be commenced either manually by the surgeon activating a trigger, button, etc. on the controller 11001 or the controller 11001 may automatically commence the firing process.
  • the robotic controller 11001 activates the firing motor 13310 to drive the firing bar 13235 and the cutting instrument 13232 in the distal direction “DD”.
  • the robotic controller 11001 may provide the surgeon with an indication signal. Thereafter the surgeon may manually activate the first motor 13310 to retract the cutting instrument 13232 to the starting position or the robotic controller 11001 may automatically activate the first motor 13310 to retract the cutting element 13232 .
  • FIGS. 138 and 139 illustrate surgical tools 13200 ′ and 13200 ′′ that have end effectors 13212 ′, 13212 ′′, respectively that may be employed with an elongated shaft embodiment that has an articulation joint of the various types disclosed herein.
  • a threaded closure shaft 13342 is coupled to the proximal end 13223 of the elongated channel 13222 by a flexible cable or other flexible member 13345 .
  • the location of an articulation joint (not shown) within the elongated shaft assembly 13208 will coincide with the flexible member 13345 to enable the flexible member 13345 to accommodate such articulation.
  • the flexible member 13345 is rotatably affixed to the proximal end portion 13223 of the elongated channel 13222 to enable the flexible member 13345 to rotate relative thereto to prevent the flexible member 13229 from “winding up” relative to the channel 13222 .
  • the cutting element may be driven in one of the above described manners by a knife bar that can also accommodate articulation of the elongated shaft assembly.
  • FIG. 139 depicts a surgical end effector 13212 ′′ that is substantially identical to the surgical end effector 13212 described above, except that the threaded closure rod 13342 is attached to a closure nut 13347 that is constrained to only move axially within the elongated shaft assembly 13208 .
  • the flexible member 13345 is attached to the closure nut 13347 .
  • Such arrangement also prevents the threaded closure rod 13342 from winding-up the flexible member 13345 .
  • a flexible knife bar 13235 ′ may be employed to facilitate articulation of the surgical end effector 13212 ′′.
  • the surgical tools 13200 , 13200 ′, and 13200 ′′ described above may also employ anyone of the cutting instrument embodiments described herein.
  • the anvil of each of the end effectors of these tools is closed by drawing the elongated channel into contact with the distal end of the elongated shaft assembly.
  • the robotic controller 11001 can start to draw the channel 13222 inward into the shaft assembly 13208 .
  • the controller 11001 may simultaneously move the tool holder and ultimately the tool such to compensate for the movement of the elongated channel 13222 so that, in effect, the target tissue is clamped between the anvil and the elongated channel without being otherwise moved.
  • FIGS. 140-142 depict another surgical tool embodiment 13201 that is substantially identical to surgical tool 13200 ′′ described above, except for the differences discussed below.
  • the threaded closure rod 13342 ′ has variable pitched grooves. More specifically, as can be seen in FIG. 141 , the closure rod 13342 ′ has a distal groove section 13380 and a proximal groove section 13382 .
  • the distal and proximal groove sections 13380 , 13382 are configured for engagement with a lug 13390 supported within the hollow threaded end portion 13341 ′.
  • the distal groove section 13380 has a finer pitch than the groove section 13382 .
  • variable pitch arrangement permits the elongated channel 13222 to be drawn into the shaft 13208 at a first speed or rate by virtue of the engagement between the lug 13390 and the proximal groove segment 13382 .
  • the channel 13222 will be drawn into the shaft 13208 at a second speed or rate.
  • the proximal groove segment 13382 is coarser than the distal groove segment 13380 , the first speed will be greater than the second speed.
  • Such arrangement serves to speed up the initial closing of the end effector for tissue manipulation and then after the tissue has been properly positioned therein, generate the amount of closure forces to properly clamp the tissue for cutting and sealing.
  • the anvil 13234 initially closes fast with a lower force and then applies a higher closing force as the anvil closes more slowly.
  • the surgical end effector opening and closing motions are employed to enable the user to use the end effector to grasp and manipulate tissue prior to fully clamping it in the desired location for cutting and sealing.
  • the user may, for example, open and close the surgical end effector numerous times during this process to orient the end effector in a proper position which enables the tissue to be held in a desired location.
  • the fine thread may require as many as 5-10 full rotations to generate the necessary load. In some cases, for example, this action could take as long as 2-5 seconds. If it also took an equally long time to open and close the end effector each time during the positioning/tissue manipulation process, just positioning the end effector may take an undesirably long time. If that happens, it is possible that a user may abandon such use of the end effector for use of a conventional grasper device. Use of graspers, etc. may undesirably increase the costs associated with completing the surgical procedure.
  • the above-described embodiments employ a battery or batteries to power the motors used to drive the end effector components. Activation of the motors is controlled by the robotic system 11000 .
  • the power supply may comprise alternating current “AC” that is supplied to the motors by the robotic system 11000 . That is, the AC power would be supplied from the system powering the robotic system 11000 through the tool holder and adapter.
  • a power cord or tether may be attached to the tool mounting portion 13300 to supply the requisite power from a separate source of alternating or direct current.
  • the controller 11001 may apply an initial rotary motion to the closure shaft 13340 ( FIG. 137 ) to draw the elongated channel 13222 axially inwardly into the elongated shaft assembly 13208 and move the anvil from a first position to an intermediate position at a first rate that corresponds with the point wherein the distal groove section 13380 transitions to the proximal groove section 13382 . Further application of rotary motion to the closure shaft 13340 will cause the anvil to move from the intermediate position to the closed position relative to the surgical staple cartridge. When in the closed position, the tissue to be cut and stapled is properly clamped between the anvil and the surgical staple cartridge.
  • FIGS. 143-147 illustrate another surgical tool embodiment 13400 of the present invention.
  • This embodiment includes an elongated shaft assembly 13408 that extends from a tool mounting portion 13500 .
  • the elongated shaft assembly 13408 includes a rotatable proximal closure tube segment 13410 that is rotatably journaled on a proximal spine member 13420 that is rigidly coupled to a tool mounting plate 13502 of the tool mounting portion 13500 .
  • the proximal spine member 13420 has a distal end 13422 that is coupled to an elongated channel portion 13522 of a surgical end effector 13412 .
  • the elongated channel portion 13522 has a distal end portion 13523 that “hookingly engages” the distal end 13422 of the spine member 13420 .
  • the elongated channel 13522 is configured to support a surgical staple cartridge 13534 therein.
  • This embodiment may employ one of the various cutting instrument embodiments disclosed herein to sever tissue that is clamped in the surgical end effector 13412 and fire the staples in the staple cartridge 13534 into the severed tissue.
  • Surgical end effector 13412 has an anvil 13524 that is pivotally coupled to the elongated channel 13522 by a pair of trunnions 13525 that are received in corresponding openings 13529 in the elongated channel 13522 .
  • the anvil 13524 is moved between the open ( FIG. 143 ) and closed positions ( FIGS. 144-146 ) by a distal closure tube segment 13430 .
  • a distal end portion 13432 of the distal closure tube segment 13430 includes an opening 13445 into which a tab 13527 on the anvil 13524 is inserted in order to open and close the anvil 13524 as the distal closure tube segment 13430 moves axially relative thereto.
  • the opening 13445 is shaped such that as the closure tube segment 13430 is moved in the proximal direction, the closure tube segment 13430 causes the anvil 13524 to pivot to an open position.
  • a spring (not shown) may be employed to bias the anvil 13524 to the open position.
  • the distal closure tube segment 13430 includes a lug 13442 that extends from its distal end 13440 into threaded engagement with a variable pitch groove/thread 13414 formed in the distal end 13412 of the rotatable proximal closure tube segment 13410 .
  • the variable pitch groove/thread 13414 has a distal section 13416 and a proximal section 13418 .
  • the pitch of the distal groove/thread section 13416 is finer than the pitch of the proximal groove/thread section 13418 .
  • the distal closure tube segment 13430 is constrained for axial movement relative to the spine member 13420 by an axial retainer pin 13450 that is received in an axial slot 13424 in the distal end of the spine member 13420 .
  • the anvil 12524 is open and closed by rotating the proximal closure tube segment 13410 .
  • the variable pitch thread arrangement permits the distal closure tube segment 13430 to be driven in the distal direction “DD” at a first speed or rate by virtue of the engagement between the lug 13442 and the proximal groove/thread section 13418 .
  • the lug 13442 engages the distal groove/thread section 13416
  • the distal closure tube segment 13430 will be driven in the distal direction at a second speed or rate. Because the proximal groove/thread section 13418 is coarser than the distal groove/thread segment 13416 , the first speed will be greater than the second speed.
  • the tool mounting portion 13500 is configured to receive a corresponding first rotary motion from the robotic controller 11001 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube segment 13410 about a longitudinal tool axis LT-LT.
  • a proximal end 13460 of the proximal closure tube segment 13410 is rotatably supported within a cradle arrangement 13504 attached to a tool mounting plate 13502 of the tool mounting portion 13500 .
  • a rotation gear 13462 is formed on or attached to the proximal end 13460 of the closure tube segment 13410 for meshing engagement with a rotation drive assembly 13470 that is operably supported on the tool mounting plate 13502 .
  • a rotation drive gear 13472 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13502 when the tool mounting portion 13500 is coupled to the tool holder 11270 . See FIGS. 105 and 146 .
  • the rotation drive assembly 13470 further comprises a rotary driven gear 13474 that is rotatably supported on the tool mounting plate 13502 in meshing engagement with the rotation gear 13462 and the rotation drive gear 13472 .
  • FIG. 147 illustrates one form of knife drive assembly 13480 for axially advancing a knife bar 13492 that is attached to such cutting instrument.
  • One form of the knife drive assembly 13480 comprises a rotary drive gear 13482 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13502 when the tool drive portion 13500 is coupled to the tool holder 11270 . See FIGS. 105 and 147 .
  • the knife drive assembly 13480 further comprises a first rotary driven gear assembly 13484 that is rotatably supported on the tool mounting plate 15200 .
  • the first rotary driven gear assembly 13484 is in meshing engagement with a third rotary driven gear assembly 13486 that is rotatably supported on the tool mounting plate 13502 and which is in meshing engagement with a fourth rotary driven gear assembly 13488 that is in meshing engagement with a threaded portion 13494 of drive shaft assembly 13490 that is coupled to the knife bar 13492 .
  • Rotation of the rotary drive gear 13482 in a second rotary direction will result in the axial advancement of the drive shaft assembly 13490 and knife bar 13492 in the distal direction “DD”.
  • rotation of the rotary drive gear 13482 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 13490 and the knife bar 13492 to move in the proximal direction.
  • FIGS. 148-157 illustrate another surgical tool 13600 embodiment of the present invention that may be employed in connection with a robotic system 11000 .
  • the tool 13600 includes an end effector in the form of a disposable loading unit 13612 .
  • Various forms of disposable loading units that may be employed in connection with tool 13600 are disclosed, for example, in U.S. Patent Application Publication No. US 2009/0206131 A1, entitled “End Effector Arrangements For a Surgical Cutting and Stapling Instrument”, the disclosure of which is herein incorporated by reference in its entirety.
  • the disposable loading unit 13612 includes an anvil assembly 13620 that is supported for pivotal travel relative to a carrier 13630 that operably supports a staple cartridge 13640 therein.
  • a mounting assembly 13650 is pivotally coupled to the cartridge carrier 13630 to enable the carrier 13630 to pivot about an articulation axis AA-AA relative to a longitudinal tool axis LT-LT.
  • mounting assembly 13650 includes upper and lower mounting portions 13652 and 13654 . Each mounting portion includes a threaded bore 13656 on each side thereof dimensioned to receive threaded bolts (not shown) for securing the proximal end of carrier 13630 thereto.
  • a pair of centrally located pivot members 13658 extends between upper and lower mounting portions via a pair of coupling members 13660 which engage a distal end of a housing portion 13662 .
  • Coupling members 13660 each include an interlocking proximal portion 13664 configured to be received in grooves 13666 formed in the proximal end of housing portion 13662 to retain mounting assembly 13650 and housing portion 13662 in a longitudinally fixed position in relation thereto.
  • housing portion 13662 of disposable loading unit 13614 includes an upper housing half 13670 and a lower housing half 13672 contained within an outer casing 13674 .
  • the proximal end of housing half 13670 includes engagement nubs 13676 for releasably engaging an elongated shaft 13700 and an insertion tip 13678 .
  • Nubs 13676 form a bayonet-type coupling with the distal end of the elongated shaft 13700 which will be discussed in further detail below.
  • Housing halves 13670 , 13672 define a channel 13675 for slidably receiving axial drive assembly 13680 .
  • a second articulation link 13690 is dimensioned to be slidably positioned within a slot 13679 formed between housing halves 13670 , 13672 .
  • a pair of blow out plates 13691 are positioned adjacent the distal end of housing portion 13662 adjacent the distal end of axial drive assembly 13680 to prevent outward bulging of drive assembly 13680 during articulation of carrier 13630 .
  • the second articulation link 13690 includes at least one elongated metallic plate. Preferably, two or more metallic plates are stacked to form link 13690 .
  • the proximal end of articulation link 13690 includes a hook portion 13692 configured to engage first articulation link 13710 extending through the elongated shaft 13700 .
  • the distal end of the second articulation link 13690 includes a loop 13694 dimensioned to engage a projection formed on mounting assembly 13650 .
  • the projection is laterally offset from pivot pin 13658 such that linear movement of second articulation link 13690 causes mounting assembly 13650 to pivot about pivot pins 13658 to articulate the carrier 13630 .
  • axial drive assembly 13680 includes an elongated drive beam 13682 including a distal working head 13684 and a proximal engagement section 13685 .
  • Drive beam 13682 may be constructed from a single sheet of material or, preferably, multiple stacked sheets.
  • Engagement section 13685 includes a pair of engagement fingers which are dimensioned and configured to mountingly engage a pair of corresponding retention slots formed in drive member 13686 .
  • Drive member 13686 includes a proximal porthole 13687 configured to receive the distal end 13722 of control rod 12720 (See FIG. 157 ) when the proximal end of disposable loading unit 13614 is engaged with elongated shaft 13700 of surgical tool 13600 .
  • a disposable loading unit 13612 is first secured to the distal end of elongated shaft 13700 .
  • the surgical tool 13600 may include an articulating or a non-articulating disposable loading unit.
  • the distal end 13722 of control rod 13720 is inserted into insertion tip 13678 of disposable loading unit 13612 , and insertion tip 13678 is slid longitudinally into the distal end of the elongated shaft 13700 in the direction indicated by arrow “A” in FIG.
  • Nubs 13676 will each be aligned in a respective channel (not shown) in elongated shaft 13700 .
  • disposable loading unit 13612 is rotated in the direction indicated by arrow “B” in FIGS. 154 and 157 to move hook portion 13692 of second articulation link 13690 into engagement with finger 13712 of first articulation link 13710 .
  • Nubs 13676 also form a “bayonet-type” coupling within annular channel 13703 in the elongated shaft 13700 .
  • nubs 13676 engage cam surface 13732 ( FIG. 155 ) of block plate 13730 to initially move plate 13730 in the direction indicated by arrow “C” in FIG. 155 to lock engagement member 13734 in recess 13721 of control rod 13720 to prevent longitudinal movement of control rod 13720 during attachment of disposable loading unit 13612 .
  • nubs 13676 disengage from cam surface 13732 to allow blocking plate 13730 to move in the direction indicated by arrow “D” in FIGS. 154 and 157 from behind engagement member 13734 to once again permit longitudinal movement of control rod 13720 .
  • the above-described attachment method reflects that the disposable loading unit 13612 is manipulated relative to the elongated shaft 13700 , the person of ordinary skill in the art will appreciate that the disposable loading unit 13612 may be supported in a stationary position and the robotic system 11000 may manipulate the elongated shaft portion 13700 relative to the disposable loading unit 13612 to accomplish the above-described coupling procedure.
  • FIG. 158 illustrates another disposable loading unit 13612 ′ that is attachable in a bayonet-type arrangement with the elongated shaft 13700 ′ that is substantially identical to shaft 13700 except for the differences discussed below.
  • the elongated shaft 13700 ′ has slots 13705 that extend for at least a portion thereof and which are configured to receive nubs 13676 therein.
  • the disposable loading unit 13612 ′ includes arms 13677 extending therefrom which, prior to the rotation of disposable loading unit 13612 ′, can be aligned, or at least substantially aligned, with nubs 13676 extending from housing portion 13662 .
  • arms 13677 and nubs 13676 can be inserted into slots 13705 in elongated shaft 13700 ′, for example, when disposable loading unit 13612 ′ is inserted into elongated shaft 13700 ′.
  • arms 13677 can be sufficiently confined within slots 13705 such that slots 13705 can hold them in position
  • nubs 13676 can be positioned such that they are not confined within slots 13705 and can be rotated relative to arms 13677 .
  • the hook portion 13692 of the articulation link 13690 is engaged with the first articulation link 13710 extending through the elongated shaft 13700 ′.
  • disposable loading unit 13612 ′′ can include connector portion 13613 which can be configured to be engaged with connector portion 13740 of the elongated shaft 13700 ′′.
  • connector portion 13613 can include at least one projection and/or groove which can be mated with at least one projection and/or groove of connector portion 13740 .
  • the connector portions can include co-operating dovetail portions.
  • the connector portions can be configured to interlock with one another and prevent, or at least inhibit, distal and/or proximal movement of disposable loading unit 13612 ′′ along axis 13741 .
  • the distal end of the axial drive assembly 13680 ′ can include aperture 13681 which can be configured to receive projection 13721 extending from control rod 13720 ′.
  • such an arrangement can allow disposable loading unit 13612 ′′ to be assembled to elongated shaft 13700 in a direction which is not collinear with or parallel to axis 13741 .
  • axial drive assembly 13680 ′ and control rod 13720 can include any other suitable arrangement of projections and apertures to operably connect them to each other.
  • the first articulation link 13710 which can be operably engaged with second articulation link 13690 .
  • the surgical tool 13600 includes a tool mounting portion 13750 .
  • the tool mounting portion 13750 includes a tool mounting plate 13751 that is configured for attachment to the tool drive assembly 11010 .
  • the tool mounting portion operably supported a transmission arrangement 13752 thereon. In use, it may be desirable to rotate the disposable loading unit 13612 about the longitudinal tool axis defined by the elongated shaft 13700 .
  • the transmission arrangement 13752 includes a rotational transmission assembly 13753 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft 13700 (and the disposable loading unit 13612 ) about the longitudinal tool axis LT-LT.
  • a proximal end 13701 of the elongated shaft 13700 is rotatably supported within a cradle arrangement 13754 that is attached to the tool mounting plate 13751 of the tool mounting portion 13750 .
  • a rotation gear 13755 is formed on or attached to the proximal end 13701 of the elongated shaft 13700 for meshing engagement with a rotation gear assembly 13756 operably supported on the tool mounting plate 13751 .
  • a rotation drive gear 13757 drivingly coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool drive assembly 11010 .
  • the rotation transmission assembly 13753 further comprises a rotary driven gear 13758 that is rotatably supported on the tool mounting plate 13751 in meshing engagement with the rotation gear 13755 and the rotation drive gear 13757 .
  • a drive shaft assembly 13760 is coupled to a proximal end of the control rod 12720 .
  • the control rod 12720 is axially advanced in the distal and proximal directions by a knife/closure drive transmission 13762 .
  • One form of the knife/closure drive assembly 13762 comprises a rotary drive gear 13763 that is coupled to a corresponding second one of the driven rotatable body portions, discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool holder 11270 .
  • the rotary driven gear 13763 is in meshing driving engagement with a gear train, generally depicted as 13764 .
  • the gear train 13764 further comprises a first rotary driven gear assembly 13765 that is rotatably supported on the tool mounting plate 13751 .
  • the first rotary driven gear assembly 13765 is in meshing engagement with a second rotary driven gear assembly 13766 that is rotatably supported on the tool mounting plate 13751 and which is in meshing engagement with a third rotary driven gear assembly 13767 that is in meshing engagement with a threaded portion 13768 of the drive shaft assembly 13760 .
  • Rotation of the rotary drive gear 13763 in a second rotary direction will result in the axial advancement of the drive shaft assembly 13760 and control rod 12720 in the distal direction “DD”.
  • the cartridge carrier 13630 may be selectively articulated about articulation axis AA-AA by applying axial articulation control motions to the first and second articulation links 13710 and 13690 .
  • the transmission arrangement 13752 further includes an articulation drive 13770 that is operably supported on the tool mounting plate 13751 . More specifically and with reference to FIG. 161 , it can be seen that a proximal end portion 13772 of an articulation drive shaft 13771 configured to operably engage with the first articulation link 13710 extends through the rotation gear 13755 and is rotatably coupled to a shifter rack gear 13774 that is slidably affixed to the tool mounting plate 13751 through slots 13775 .
  • the articulation drive 13770 further comprises a shifter drive gear 13776 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool holder 11270 .
  • the articulation drive assembly 13770 further comprises a shifter driven gear 13778 that is rotatably supported on the tool mounting plate 13751 in meshing engagement with the shifter drive gear 13776 and the shifter rack gear 13774 .
  • Application of a third rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the shifter drive gear 13776 by virtue of being operably coupled thereto.
  • Rotation of the shifter drive gear 13776 ultimately results in the axial movement of the shifter gear rack 13774 and the articulation drive shaft 13771 .
  • the direction of axial travel of the articulation drive shaft 13771 depends upon the direction in which the shifter drive gear 13776 is rotated by the robotic system 11000 .
  • rotation of the shifter drive gear 13776 in a first rotary direction will result in the axial movement of the articulation drive shaft 13771 in the proximal direction “PD” and cause the cartridge carrier 13630 to pivot in a first direction about articulation axis AA-AA.
  • FIG. 162 illustrates yet another surgical tool 13800 embodiment of the present invention that may be employed with a robotic system 11000 .
  • the surgical tool 13800 includes a surgical end effector 13812 in the form of an endocutter 13814 that employs various cable-driven components.
  • Various forms of cable driven endocutters are disclosed, for example, in U.S. Pat. No. 7,726,537, entitled “Surgical Stapler With Universal Articulation and Tissue Pre-Clamp” and U.S. Patent Application Publication No. US 2008/0308603A1, entitled “Cable Driven Surgical Stapling and Cutting Instrument With Improved Cable Attachment Arrangements”, the disclosures of each are herein incorporated by reference in their respective entireties.
  • Such endocutters 13814 may be referred to as a “disposable loading unit” because they are designed to be disposed of after a single use.
  • the various unique and novel arrangements of various embodiments of the present invention may also be employed in connection with cable driven end effectors that are reusable.
  • the endocutter 13814 includes an elongated channel 13822 that operably supports a surgical staple cartridge 13834 therein.
  • An anvil 13824 is pivotally supported for movement relative to the surgical staple cartridge 13834 .
  • the anvil 13824 has a cam surface 13825 that is configured for interaction with a preclamping collar 13840 that is supported for axial movement relative thereto.
  • the end effector 13814 is coupled to an elongated shaft assembly 13808 that is attached to a tool mounting portion 13900 .
  • a closure cable 13850 is employed to move pre-clamping collar 13840 distally onto and over cam surface 13825 to close the anvil 13824 relative to the surgical staple cartridge 13834 and compress the tissue therebetween.
  • closure cable 13850 attaches to the pre-clamping collar 13840 at or near point 13841 and is fed through a passageway in anvil 13824 (or under a proximal portion of anvil 13824 ) and fed proximally through shaft 13808 .
  • Actuation of closure cable 13850 in the proximal direction “PD” forces pre-clamping collar 13840 distally against cam surface 13825 to close anvil 13824 relative to staple cartridge assembly 13834 .
  • a return mechanism e.g., a spring, cable system or the like, may be employed to return pre-clamping collar 13840 to a pre-clamping orientation which re-opens the anvil 13824 .
  • the elongated shaft assembly 13808 may be cylindrical in shape and define a channel 13811 which may be dimensioned to receive a tube adapter 13870 . See FIG. 163 .
  • the tube adapter 13870 may be slidingly received in friction-fit engagement with the internal channel of elongated shaft 13808 .
  • the outer surface of the tube adapter 13870 may further include at least one mechanical interface, e.g., a cutout or notch 13871 , oriented to mate with a corresponding mechanical interface, e.g., a radially inwardly extending protrusion or detent (not shown), disposed on the inner periphery of internal channel 13811 to lock the tube adapter 13870 to the elongated shaft 13808 .
  • the distal end of tube adapter 13870 may include a pair of opposing flanges 13872 a and 13872 b which define a cavity for pivotably receiving a pivot block 13873 therein.
  • Each flange 13872 a and 13872 b may include an aperture 13874 a and 13874 b that is oriented to receive a pivot pin 13875 that extends through an aperture in pivot block 13873 to allow pivotable movement of pivot block 13873 about an axis that is perpendicular to longitudinal tool axis “LT-LT”.
  • the channel 13822 may be formed with two upwardly extending flanges 13823 a , 13823 b that have apertures therein, which are dimensioned to receive a pivot pin 13827 .
  • pivot pin 13875 mounts through apertures in pivot block 13873 to permit rotation of the surgical end effector 13814 about the “Y” axis as needed during a given surgical procedure.
  • Rotation of pivot block 13873 about pin 13875 along “Z” axis rotates the surgical end effector 13814 about the “Z” axis. See FIG. 163 .
  • Other methods of fastening the elongated channel 13822 to the pivot block 13873 may be effectively employed without departing from the spirit and scope of the present invention.
  • the surgical staple cartridge 13834 can be assembled and mounted within the elongated channel 13822 during the manufacturing or assembly process and sold as part of the surgical end effector 13812 , or the surgical staple cartridge 13834 may be designed for selective mounting within the elongated channel 13822 as needed and sold separately, e.g., as a single use replacement, replaceable or disposable staple cartridge assembly. It is within the scope of this disclosure that the surgical end effector 13812 may be pivotally, operatively, or integrally attached, for example, to distal end 13809 of the elongated shaft assembly 13808 of a disposable surgical stapler. As is known, a used or spent disposable loading unit 13814 can be removed from the elongated shaft assembly 13808 and replaced with an unused disposable unit.
  • the endocutter 13814 may also preferably include an actuator, preferably a dynamic clamping member 13860 , a sled 13862 , as well as staple pushers (not shown) and staples (not shown) once an unspent or unused cartridge 13834 is mounted in the elongated channel 13822 . See FIG. 163 .
  • the dynamic clamping member 13860 is associated with, e.g., mounted on and rides on, or with or is connected to or integral with and/or rides behind sled 13862 . It is envisioned that dynamic clamping member 13860 can have cam wedges or cam surfaces attached or integrally formed or be pushed by a leading distal surface thereof.
  • dynamic clamping member 13860 may include an upper portion 13863 having a transverse aperture 13864 with a pin 13865 mountable or mounted therein, a central support or upward extension 13866 and substantially T-shaped bottom flange 13867 which cooperate to slidingly retain dynamic clamping member 13860 along an ideal cutting path during longitudinal, distal movement of sled 13862 .
  • the leading cutting edge 13868 here, knife blade 13869 , is dimensioned to ride within slot 13835 of staple cartridge assembly 13834 and separate tissue once stapled.
  • the term “knife assembly” may include the aforementioned dynamic clamping member 13860 , knife 13869 , and sled 13862 or other knife/beam/sled drive arrangements and cutting instrument arrangements.
  • the various embodiments of the present invention may be employed with knife assembly/cutting instrument arrangements that may be entirely supported in the staple cartridge 13834 or partially supported in the staple cartridge 13834 and elongated channel 13822 or entirely supported within the elongated channel 13822 .
  • the dynamic clamping member 13860 may be driven in the proximal and distal directions by a cable drive assembly 13870 .
  • the cable drive assembly comprises a pair of advance cables 13880 , 13882 and a firing cable 13884 .
  • FIGS. 164 and 165 illustrate the cables 13880 , 13882 , 13884 in diagrammatic form.
  • a first advance cable 13880 is operably supported on a first distal cable transition support 13885 which may comprise, for example, a pulley, rod, capstan, etc.
  • first proximal cable transition support 13886 which may comprise, for example, a pulley, rod, capstan, etc. that is operably supported by the elongated channel 13822 .
  • a distal end 13881 of the first advance cable 13880 is affixed to the dynamic clamping assembly 13860 .
  • the second advance cable 13882 is operably supported on a second distal cable transition support 13887 which may, for example, comprise a pulley, rod, capstan etc.
  • a second proximal cable transition support 13888 which may, for example, comprise a pulley, rod, capstan, etc. mounted to the proximal end of the elongated channel 13822 .
  • the proximal end 13883 of the second advance cable 13882 may be attached to the dynamic clamping assembly 13860 .
  • an endless firing cable 13884 is employed and journaled on a support 13889 that may comprise a pulley, rod, capstan, etc. mounted within the elongated shaft 13808 .
  • the retract cable 13884 may be formed in a loop and coupled to a connector 13889 ′ that is fixedly attached to the first and second advance cables 13880 , 13882 .
  • Various non-limiting embodiments of the present invention include a cable drive transmission 13920 that is operably supported on a tool mounting plate 13902 of the tool mounting portion 13900 .
  • the tool mounting portion 13900 has an array of electrical connecting pins 13904 which are configured to interface with the slots 11258 ( FIG. 104 ) in the adapter 11240 ′.
  • Such arrangement permits the robotic system 11000 to provide control signals to a control circuit 13910 of the tool 13800 .
  • the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
  • Control circuit 13910 is shown in schematic form in FIG. 162 .
  • the control circuit 13910 includes a power supply in the form of a battery 13912 that is coupled to an on-off solenoid powered switch 13914 .
  • the power supply may comprise a source of alternating current.
  • Control circuit 13910 further includes an on/off solenoid 13916 that is coupled to a double pole switch 13918 for controlling motor rotation direction.
  • switch 13914 will permit battery 13912 to supply power to the double pole switch 13918 .
  • the robotic system 11000 will also supply an appropriate signal to the double pole switch 13918 to supply power to a shifter motor 13922 .
  • the cable drive transmission 13920 comprises a drive pulley 13930 that is operably mounted to a drive shaft 13932 that is attached to a driven element 11304 of the type and construction described above that is designed to interface with a corresponding drive element 11250 of the adapter 11240 . See FIGS. 104 and 169 .
  • the robot system 11000 can apply rotary motion to the drive pulley 13930 in a desired direction.
  • a first drive member or belt 13934 drivingly engages the drive pulley 13930 and a second drive shaft 13936 that is rotatably supported on a shifter yoke 13940 .
  • the shifter yoke 13940 is operably coupled to the shifter motor 13922 such that rotation of the shaft 13923 of the shifter motor 13922 in a first direction will shift the shifter yoke in a first direction “FD” and rotation of the shifter motor shaft 13923 in a second direction will shift the shifter yoke 13940 in a second direction “SD”.
  • Other embodiments of the present invention may employ a shifter solenoid arrangement for shifting the shifter yoke in said first and second directions.
  • a closure drive gear 13950 mounted to a second drive shaft 13936 and is configured to selectively mesh with a closure drive assembly, generally designated as 13951 .
  • a firing drive gear 13960 is also mounted to the second drive shaft 13936 and is configured to selectively mesh with a firing drive assembly generally designated as 13961 .
  • Rotation of the second drive shaft 13936 causes the closure drive gear 13950 and the firing drive gear 13960 to rotate.
  • the closure drive assembly 13951 comprises a closure driven gear 13952 that is coupled to a first closure pulley 13954 that is rotatably supported on a third drive shaft 13956 .
  • the closure cable 13850 is drivingly received on the first closure pulley 13954 such that rotation of the closure driven gear 13952 will drive the closure cable 13850 .
  • the firing drive assembly 13961 comprises a firing driven gear 13962 that is coupled to a first firing pulley 13964 that is rotatably supported on the third drive shaft 13956 .
  • the first and second driving pulleys 13954 and 13964 are independently rotatable on the third drive shaft 13956 .
  • the firing cable 13884 is drivingly received on the first firing pulley 13964 such that rotation of the firing driven gear 13962 will drive the firing cable 13884 .
  • the cable drive transmission 13920 further includes a braking assembly 13970 .
  • the braking assembly 13970 includes a closure brake 13972 that comprises a spring arm 13973 that is attached to a portion of the transmission housing 13971 .
  • the closure brake 13972 has a gear lug 13974 that is sized to engage the teeth of the closure driven gear 13952 as will be discussed in further detail below.
  • the braking assembly 13970 further includes a firing brake 13976 that comprises a spring arm 13977 that is attached to another portion of the transmission housing 13971 .
  • the firing brake 13976 has a gear lug 13978 that is sized to engage the teeth of the firing driven gear 13962 .
  • At least one embodiment of the surgical tool 13800 may be used as follows.
  • the tool mounting portion 13900 is operably coupled to the interface 11240 of the robotic system 11000 .
  • the controller or control unit of the robotic system is operated to locate the tissue to be cut and stapled between the open anvil 13824 and the staple cartridge 13834 .
  • the braking assembly 13970 has locked the closure driven gear 13952 and the firing driven gear 13962 such that they cannot rotate. That is, as shown in FIG. 167 , the gear lug 13974 is in locking engagement with the closure driven gear 13952 and the gear lug 13978 is in locking engagement with the firing driven gear 13962 .
  • the controller 11001 of the robotic system 11000 will provide a control signal to the shifter motor 13922 (or shifter solenoid) to move the shifter yoke 13940 in the first direction.
  • the closure drive gear 13950 moves the gear lug 13974 out of engagement with the closure driven gear 13952 as it moves into meshing engagement with the closure driven gear 13952 .
  • the gear lug 13978 remains in locking engagement with the firing driven gear 13962 to prevent actuation of the firing system.
  • the robotic controller 11001 provides a first rotary actuation motion to the drive pulley 13930 through the interface between the driven element 11304 and the corresponding components of the tool holder 11240 .
  • the closure cable 13850 is rotated to drive the preclamping collar 13840 into closing engagement with the cam surface 13825 of the anvil 13824 to move it to the closed position thereby clamping the target tissue between the anvil 13824 and the staple cartridge 13834 . See FIG. 162 .
  • the robotic controller 11001 stops the application of the first rotary motion to the drive pulley 13930 .
  • the robotic controller 11001 may commence the firing process by sending another control signal to the shifter motor 13922 (or shifter solenoid) to cause the shifter yoke to move in the second direction “SD” as shown in FIG. 168 .
  • the firing drive gear 13960 moves the gear lug 13978 out of engagement with the firing driven gear 13962 as it moves into meshing engagement with the firing driven gear 13962 .
  • the gear lug 13974 remains in locking engagement with the closure driven gear 13952 to prevent actuation of the closure system.
  • the robotic controller 11001 is activated to provide the first rotary actuation motion to the drive pulley 13930 through the interface between the driven element 11304 and the corresponding components of the tool holder 11240 .
  • the firing cable 13884 is rotated to drive the dynamic clamping member 13860 in the distal direction “DD” thereby firing the stapes and cutting the tissue clamped in the end effector 13814 .
  • the controller 11001 may then apply a second rotary motion to the drive pulley 13930 to rotate the closure cable 13850 in an opposite direction to cause the dynamic clamping member 13860 to be retracted in the proximal direction “PD”.
  • the shifter motor 13922 (or shifter solenoid) is powered to move the shifter yoke 13940 to the closure position ( FIG. 166 ).
  • the robotic controller 11001 may once again apply the second rotary motion to the drive pulley 13930 .
  • Rotation of the drive pulley 13930 in the second direction causes the closure cable 13850 to retract the preclamping collar 13840 out of engagement with the cam surface 13825 of the anvil 13824 to permit the anvil 13824 to move to an open position (by a spring or other means) to release the stapled tissue from the surgical end effector 13814 .
  • FIG. 172 illustrates a surgical tool 14000 that employs a gear driven firing bar 14092 as shown in FIGS. 173-175 .
  • This embodiment includes an elongated shaft assembly 14008 that extends from a tool mounting portion 14100 .
  • the tool mounting portion 14100 includes a tool mounting plate 14102 that operable supports a transmission arrangement 14103 thereon.
  • the elongated shaft assembly 14008 includes a rotatable proximal closure tube 14010 that is rotatably journaled on a proximal spine member 14020 that is rigidly coupled to the tool mounting plate 14102 .
  • the proximal spine member 14020 has a distal end that is coupled to an elongated channel portion 14022 of a surgical end effector 14012 .
  • the surgical effector 14012 may be substantially similar to surgical end effector 13412 described above.
  • the anvil 14024 of the surgical end effector 14012 may be opened and closed by a distal closure tube 14030 that operably interfaces with the proximal closure tube 14010 .
  • Distal closure tube 14030 is identical to distal closure tube 13430 described above.
  • proximal closure tube 14010 is identical to proximal closure tube segment 13410 described above.
  • the transmission arrangement comprises a closure transmission, generally designated as 14011 .
  • the closure transmission 14011 is configured to receive a corresponding first rotary motion from the robotic system 11000 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube 14010 about the longitudinal tool axis LT-LT. As can be seen in FIG.
  • a proximal end 14060 of the proximal closure tube 14010 is rotatably supported within a cradle arrangement 14104 that is attached to a tool mounting plate 14102 of the tool mounting portion 14100 .
  • a rotation gear 14062 is formed on or attached to the proximal end 14060 of the closure tube segment 14010 for meshing engagement with a rotation drive assembly 14070 that is operably supported on the tool mounting plate 14102 .
  • a rotation drive gear 14072 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 14102 when the tool mounting portion 14100 is coupled to the tool holder 11270 . See FIGS. 105 and 175 .
  • the rotation drive assembly 14070 further comprises a rotary driven gear 14074 that is rotatably supported on the tool mounting plate 14102 in meshing engagement with the rotation gear 14062 and the rotation drive gear 14072 .
  • Application of a first rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 14072 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 14072 ultimately results in the rotation of the closure tube segment 14010 to open and close the anvil 14024 as described above.
  • the end effector 14012 employs a cutting element 13860 as shown in FIGS. 173 and 174 .
  • the transmission arrangement 14103 further comprises a knife drive transmission that includes a knife drive assembly 14080 .
  • FIG. 175 illustrates one form of knife drive assembly 14080 for axially advancing the knife bar 14092 that is attached to such cutting element using cables as described above with respect to surgical tool 13800 .
  • the knife bar 14092 replaces the firing cable 13884 employed in an embodiment of surgical tool 13800 .
  • One form of the knife drive assembly 14080 comprises a rotary drive gear 14082 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 14102 when the tool mounting portion 14100 is coupled to the tool holder 11270 . See FIGS. 105 and 175 .
  • the knife drive assembly 14080 further comprises a first rotary driven gear assembly 14084 that is rotatably supported on the tool mounting plate 14102 .
  • the first rotary driven gear assembly 14084 is in meshing engagement with a third rotary driven gear assembly 14086 that is rotatably supported on the tool mounting plate 14102 and which is in meshing engagement with a fourth rotary driven gear assembly 14088 that is in meshing engagement with a threaded portion 14094 of drive shaft assembly 14090 that is coupled to the knife bar 14092 .
  • Rotation of the rotary drive gear 14082 in a second rotary direction will result in the axial advancement of the drive shaft assembly 14090 and knife bar 14092 in the distal direction “DD”.
  • rotation of the rotary drive gear 14082 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 14090 and the knife bar 14092 to move in the proximal direction.
  • Movement of the firing bar 14092 in the proximal direction “PD” will drive the cutting element 31860 in the distal direction “DD”. Conversely, movement of the firing bar 41092 in the distal direction “DD” will result in the movement of the cutting element 13860 in the proximal direction “PD”.
  • FIGS. 176-182 illustrate yet another surgical tool 15000 that may be effectively employed in connection with a robotic system 11000 .
  • the surgical tool 15000 includes a surgical end effector 15012 in the form of a surgical stapling instrument that includes an elongated channel 15020 and a pivotally translatable clamping member, such as an anvil 15070 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 15012 .
  • a surgical end effector 15012 in the form of a surgical stapling instrument that includes an elongated channel 15020 and a pivotally translatable clamping member, such as an anvil 15070 , which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 15012 .
  • the elongated channel 15020 may be substantially U-shaped in cross-section and be fabricated from, for example, titanium, 203 stainless steel, 304 stainless steel, 416 stainless steel, 17-4 stainless steel, 17-7 stainless steel, 6061 or 7075 aluminum, chromium steel, ceramic, etc.
  • a substantially U-shaped metal channel pan 15022 may be supported in the bottom of the elongated channel 15020 as shown.
  • Various embodiments include an actuation member in the form of a sled assembly 15030 that is operably supported within the surgical end effector 15012 and axially movable therein between a starting position and an ending position in response to control motions applied thereto.
  • the metal channel pan 15022 has a centrally-disposed slot 15024 therein to movably accommodate a base portion 15032 of the sled assembly 15030 .
  • the base portion 15032 includes a foot portion 15034 that is sized to be slidably received in a slot 15021 in the elongated channel 15020 . See FIG. 178 . As can be seen in FIGS.
  • the base portion 15032 of sled assembly 15030 includes an axially extending threaded bore 15036 that is configured to be threadedly received on a threaded drive shaft 15130 as will be discussed in further detail below.
  • the sled assembly 15030 includes an upstanding support portion 15038 that supports a tissue cutting blade or tissue cutting instrument 15040 .
  • the upstanding support portion 15038 terminates in a top portion 15042 that has a pair of laterally extending retaining fins 15044 protruding therefrom. As shown in FIG. 178 , the fins 15044 are positioned to be received within corresponding slots 15072 in anvil 15070 .
  • the fins 15044 and the foot 15034 serve to retain the anvil 15070 in a desired spaced closed position as the sled assembly 15030 is driven distally through the tissue clamped within the surgical end effector 15014 .
  • the sled assembly 15030 further includes a reciprocatably or sequentially activatable drive assembly 15050 for driving staple pushers toward the closed anvil 15070 .
  • the elongated channel 15020 is configured to operably support a surgical staple cartridge 15080 therein.
  • the surgical staple cartridge 15080 comprises a body portion 15082 that may be fabricated from, for example, Vectra, Nylon (6/6 or 6/12) and include a centrally disposed slot 15084 for accommodating the upstanding support portion 15038 of the sled assembly 15030 . See FIG. 178 . These materials could also be filled with glass, carbon, or mineral fill of 10%-40%.
  • the surgical staple cartridge 15080 further includes a plurality of cavities 15086 for movably supporting lines or rows of staple-supporting pushers 15088 therein.
  • the cavities 15086 may be arranged in spaced longitudinally extending lines or rows 15090 , 15092 , 15094 , 15096 .
  • the rows 15090 may be referred to herein as first outboard rows.
  • the rows 15092 may be referred to herein as first inboard rows.
  • the rows 15094 may be referred to as second inboard rows and the rows 15096 may be referred to as second outboard rows.
  • the first inboard row 15090 and the first outboard row 15092 are located on a first lateral side of the longitudinal slot 15084 and the second inboard row 15094 and the second outboard row 15096 are located on a second lateral side of the longitudinal slot 15084 .
  • the first staple pushers 15088 in the first inboard row 15092 are staggered in relationship to the first staple pushers 15088 in the first outboard row 15090 .
  • the second staple pushers 15088 in the second outboard row 15096 are staggered in relationship to the second pushers 15088 in the second inboard row 15094 .
  • Each pusher 15088 operably supports a surgical staple 15098 thereon.
  • the sequentially-activatable or reciprocatably—activatable drive assembly 15050 includes a pair of outboard drivers 15052 and a pair of inboard drivers 15054 that are each attached to a common shaft 15056 that is rotatably mounted within the base 15032 of the sled assembly 15030 .
  • the outboard drivers 15052 are oriented to sequentially or reciprocatingly engage a corresponding plurality of outboard activation cavities 15026 provided in the channel pan 15022 .
  • the inboard drivers 15054 are oriented to sequentially or reciprocatingly engage a corresponding plurality of inboard activation cavities 15028 provided in the channel pan 15022 .
  • the inboard activation cavities 15028 are arranged in a staggered relationship relative to the adjacent outboard activation cavities 15026 .
  • the sled assembly 15030 further includes distal wedge segments 15060 and intermediate wedge segments 15062 located on each side of the bore 15036 to engage the pushers 15088 as the sled assembly 15030 is driven distally in the distal direction “DD”.
  • the sled assembly 15030 is threadedly received on a threaded portion 15132 of a drive shaft 15130 that is rotatably supported within the end effector 15012 .
  • the drive shaft 15130 has a distal end 15134 that is supported in a distal bearing 15136 mounted in the surgical end effector 15012 . See FIGS. 178 and 179 .
  • the surgical end effector 15012 is coupled to a tool mounting portion 15200 by an elongated shaft assembly 15108 .
  • the tool mounting portion 15200 operably supports a transmission arrangement generally designated as 15204 that is configured to receive rotary output motions from the robotic system.
  • the elongated shaft assembly 15108 includes an outer closure tube 15110 that is rotatable and axially movable on a spine member 15120 that is rigidly coupled to a tool mounting plate 15201 of the tool mounting portion 15200 .
  • the spine member 15120 also has a distal end 15122 that is coupled to the elongated channel portion 15020 of the surgical end effector 15012 .
  • the outer closure tube 15110 has a proximal end 15112 that is rotatably supported on the tool mounting plate 15201 of the tool drive portion 15200 by a forward support cradle 15203 .
  • the proximal end 15112 of the outer closure tube 15110 is configured to operably interface with a rotation transmission portion 15206 of the transmission arrangement 15204 .
  • the proximal end 15112 of the outer closure tube 15110 is also supported on a closure sled 15140 that is also movably supported on the tool mounting plate 15201 .
  • a closure tube gear segment 15114 is formed on the proximal end 15112 of the outer closure tube 15110 for meshing engagement with a rotation drive assembly 15150 of the rotation transmission 15206 .
  • the rotation drive assembly 15150 in at least one embodiment, comprises a rotation drive gear 15152 that is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 15201 when the tool drive portion 15200 is coupled to the tool holder 11270 .
  • the rotation drive assembly 15150 further comprises a rotary driven gear 15154 that is rotatably supported on the tool mounting plate 15201 in meshing engagement with the closure tube gear segment 15114 and the rotation drive gear 15152 .
  • Closure of the anvil 15070 relative to the surgical staple cartridge 15080 is accomplished by axially moving the outer closure tube 15110 in the distal direction “DD”. Such axial movement of the outer closure tube 15110 may be accomplished by a closure transmission portion 15144 of the transmission arrangement 15204 .
  • the proximal end 15112 of the outer closure tube 15110 is supported by the closure sled 15140 which enables the proximal end 15112 to rotate relative thereto, yet travel axially with the closure sled 15140 .
  • the closure sled 15140 has an upstanding tab 15141 that extends into a radial groove 15115 in the proximal end portion 15112 of the outer closure tube 15110 .
  • the closure sled 15140 is slidably mounted to the tool mounting plate 15201 .
  • the closure sled 15140 has an upstanding portion 15142 that has a closure rack gear 15143 formed thereon. The closure rack gear 15143 is configured for driving engagement with the closure transmission 15144 .
  • the closure transmission 15144 includes a closure spur gear 15145 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 15201 .
  • a second rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 15145 when the interface 11230 is coupled to the tool mounting portion 15200 .
  • the closure transmission 15144 further includes a driven closure gear set 15146 that is supported in meshing engagement with the closure spur gear 15145 and the closure rack gear 15143 .
  • the outer closure tube 15110 has an opening 15117 in the distal end 15116 that is configured for engagement with a tab 15071 on the anvil 15070 in the manners described above.
  • the proximal end 15116 of the closure tube 15110 will contact the anvil 15070 and pivot it closed.
  • the closure sled 15140 and outer closure tube 15110 Upon application of an “opening” rotary motion from the robotic system 11000 , the closure sled 15140 and outer closure tube 15110 will be driven in the proximal direction “PD” and pivot the anvil 15070 to the open position in the manners described above.
  • the drive shaft 15130 has a proximal end 15137 that has a proximal shaft gear 15138 attached thereto.
  • the proximal shaft gear 15138 is supported in meshing engagement with a distal drive gear 15162 attached to a rotary drive bar 15160 that is rotatably supported with spine member 15120 .
  • Rotation of the rotary drive bar 15160 and ultimately rotary drive shaft 15130 is controlled by a rotary knife transmission 15207 which comprises a portion of the transmission arrangement 15204 supported on the tool mounting plate 15210 .
  • the rotary knife transmission 15207 comprises a rotary knife drive system 15170 that is operably supported on the tool mounting plate 15201 .
  • the knife drive system 15170 includes a rotary drive gear 15172 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 15201 when the tool drive portion 15200 is coupled to the tool holder 11270 .
  • the knife drive system 15170 further comprises a first rotary driven gear 15174 that is rotatably supported on the tool mounting plate 15201 in meshing engagement with a second rotary driven gear 15176 and the rotary drive gear 15172 .
  • the second rotary driven gear 15176 is coupled to a proximal end portion 15164 of the rotary drive bar 15160 .
  • Rotation of the rotary drive gear 15172 in a first rotary direction will result in the rotation of the rotary drive bar 15160 and rotary drive shaft 15130 in a first direction.
  • rotation of the rotary drive gear 15172 in a second rotary direction (opposite to the first rotary direction) will cause the rotary drive bar 15160 and rotary drive shaft 15130 to rotate in a second direction.
  • the tool drive 15200 is operably coupled to the interface 11240 of the robotic system 11000 .
  • the controller 11001 of the robotic system 11000 is operated to locate the tissue to be cut and stapled between the open anvil 15070 and the surgical staple cartridge 15080 .
  • the controller 11001 of the robotic system 11000 may be activated to apply the second rotary output motion to the second driven element 11304 coupled to the closure spur gear 15145 to drive the closure sled 15140 and the outer closure tube 15110 axially in the distal direction to pivot the anvil 15070 closed in the manner described above.
  • the robotic controller 11001 may provide the surgeon with an indication that signifies the closure of the anvil. Such indication may be, for example, in the form of a light and/or audible sound, tactile feedback on the control members, etc. Then the surgeon may initiate the firing process. In alternative embodiments, however, the robotic controller 11001 may automatically commence the firing process.
  • the robotic controller applies a third rotary output motion to the third driven disc or element 11304 coupled to the rotary drive gear 15172 .
  • Rotation of the rotary drive gear 15172 results in the rotation of the rotary drive bar 15160 and rotary drive shaft 15130 in the manner described above.
  • Firing and formation of the surgical staples 15098 can be best understood from reference to FIGS. 177 , 179 , and 180 .
  • the sled assembly 15030 is driven in the distal direction “DD” through the surgical staple cartridge 15080 , the distal wedge segments 15060 first contact the staple pushers 15088 and start to move them toward the closed anvil 15070 .
  • the outboard drivers 15052 will drop into the corresponding activation cavity 15026 in the channel pan 15022 .
  • the opposite end of each outboard driver 15052 will then contact the corresponding outboard pusher 15088 that has moved up the distal and intermediate wedge segments 15060 , 15062 .
  • Further distal movement of the sled assembly 15030 causes the outboard drivers 15052 to rotate and drive the corresponding pushers 15088 toward the anvil 15070 to cause the staples 15098 supported thereon to be formed as they are driven into the anvil 15070 .
  • the knife blade 15040 cuts through the tissue that is clamped between the anvil and the staple cartridge.
  • the inboard drivers 15054 and outboard drivers 15052 are attached to the same shaft 15056 and the inboard drivers 15054 are radially offset from the outboard drivers 15052 on the shaft 15056 , as the outboard drivers 15052 are driving their corresponding pushers 15088 toward the anvil 15070 , the inboard drivers 15054 drop into their next corresponding activation cavity 15028 to cause them to rotatably or reciprocatingly drive the corresponding inboard pushers 15088 towards the closed anvil 15070 in the same manner.
  • the laterally corresponding outboard staples 15098 on each side of the centrally disposed slot 15084 are simultaneously formed together and the laterally corresponding inboard staples 15098 on each side of the slot 15084 are simultaneously formed together as the sled assembly 15030 is driven distally.
  • the robotic controller 11001 may then apply a third rotary output motion to the drive shaft 15130 to rotate the drive shaft 15130 in an opposite direction to retract the sled assembly 15030 back to its starting position.
  • the application of the second rotary motion to the drive shaft 15130 is discontinued. Thereafter, the surgeon may manually activate the anvil opening process or it may be automatically commenced by the robotic controller 11001 .
  • the second rotary output motion is applied to the closure spur gear 15145 to drive the closure sled 15140 and the outer closure tube 15110 axially in the proximal direction.
  • the opening 15117 in the distal end 15116 of the closure tube 15110 contacts the tab 15071 on the anvil 15070 to pivot the anvil 15070 to the open position.
  • a spring may also be employed to bias the anvil 15070 to the open position when the closure tube 15116 has been returned to the starting position.
  • sensors in the surgical end effector 15012 and/or the tool mounting portion 15200 may provide the robotic controller 11001 with a signal indicating that the anvil 15070 is now open. Thereafter, the surgical end effector 15012 may be withdrawn from the surgical site.
  • FIGS. 183-188 diagrammatically depict the sequential firing of staples in a surgical tool assembly 15000 ′ that is substantially similar to the surgical tool assembly 15000 described above.
  • the inboard and outboard drivers 15052 ′, 15054 ′ have a cam-like shape with a cam surface 15053 and an actuator protrusion 15055 as shown in FIGS. 183-189 .
  • the drivers 15052 ′, 15054 ′ are journaled on the same shaft 15056 ′ that is rotatably supported by the sled assembly 15030 ′.
  • the sled assembly 15030 ′ has distal wedge segments 15060 ′ for engaging the pushers 15088 .
  • FIG. 183 illustrates an initial position of two inboard or outboard drivers 15052 ′, 15054 ′ as the sled assembly 15030 ′ is driven in the distal direction “DD”.
  • the pusher 15088 a has advanced up the wedge segment 15060 ′ and has contacted the driver 15052 ′, 15054 ′. Further travel of the sled assembly 15030 ′ in the distal direction causes the driver 15052 ′, 15054 ′ to pivot in the “P” direction ( FIG. 184 ) until the actuator portion 15055 contacts the end wall 15029 a of the activation cavity 15026 , 15028 as shown in FIG. 185 .
  • FIGS. 190-195 illustrate a surgical end effector 15312 that may be employed for example, in connection with the tool mounting portion 11300 and shaft 12008 described in detail above.
  • the surgical end effector 15312 includes an elongated channel 15322 that is constructed as described above for supporting a surgical staple cartridge 15330 therein.
  • the surgical staple cartridge 15330 comprises a body portion 15332 that includes a centrally disposed slot 15334 for accommodating an upstanding support portion 15386 of a sled assembly 15380 . See FIGS. 190-192 .
  • the surgical staple cartridge body portion 15332 further includes a plurality of cavities 15336 for movably supporting staple-supporting pushers 15350 therein.
  • the cavities 15336 may be arranged in spaced longitudinally extending rows 15340 , 15342 , 15344 , 15346 .
  • the rows 15340 , 15342 are located on one lateral side of the longitudinal slot 15334 and the rows 15344 , 15346 are located on the other side of longitudinal slot 15334 .
  • the pushers 15350 are configured to support two surgical staples 15352 thereon.
  • each pusher 15350 located on one side of the elongated slot 15334 supports one staple 15352 in row 15340 and one staple 15352 in row 15342 in a staggered orientation.
  • each pusher 15350 located on the other side of the elongated slot 15334 supports one surgical staple 15352 in row 15344 and another surgical staple 15352 in row 15346 in a staggered orientation.
  • every pusher 15350 supports two surgical staples 15352 .
  • the surgical staple cartridge 15330 includes a plurality of rotary drivers 15360 . More particularly, the rotary drivers 15360 on one side of the elongated slot 15334 are arranged in a single line 15370 and correspond to the pushers 15350 in lines 15340 , 15342 . In addition, the rotary drivers 15360 on the other side of the elongated slot 15334 are arranged in a single line 15372 and correspond to the pushers 15350 in lines 15344 , 15346 . As can be seen in FIG. 190 , each rotary driver 15360 is rotatably supported within the staple cartridge body 15332 .
  • each rotary driver 15360 is rotatably received on a corresponding driver shaft 15362 .
  • Each driver 15360 has an arcuate ramp portion 15364 formed thereon that is configured to engage an arcuate lower surface 15354 formed on each pusher 15350 . See FIG. 195 .
  • each driver 15360 has a lower support portion 15366 extend therefrom to slidably support the pusher 15360 on the channel 15322 .
  • Each driver 15360 has a downwardly extending actuation rod 15368 that is configured for engagement with a sled assembly 15380 .
  • the sled assembly 15380 includes a base portion 15382 that has a foot portion 15384 that is sized to be slidably received in a slot 15333 in the channel 15322 . See FIG. 190 .
  • the sled assembly 15380 includes an upstanding support portion 15386 that supports a tissue cutting blade or tissue cutting instrument 15388 .
  • the upstanding support portion 15386 terminates in a top portion 15390 that has a pair of laterally extending retaining fins 15392 protruding therefrom.
  • the fins 15392 are positioned to be received within corresponding slots (not shown) in the anvil (not shown).
  • the fins 15392 and the foot portion 15384 serve to retain the anvil (not shown) in a desired spaced closed position as the sled assembly 15380 is driven distally through the tissue clamped within the surgical end effector 15312 .
  • the upstanding support portion 15386 is configured for attachment to a knife bar 12200 ( FIG. 111 ).
  • the sled assembly 15380 further has a horizontally-extending actuator plate 15394 that is shaped for actuating engagement with each of the actuation rods 15368 on the pushers 15360 .
  • the surgical staples 15352 thereon are driven into forming contact with the underside of the anvil.
  • the control system of the robotic system 11000 may then retract the knife bar and sled assembly 15380 back to the starting position. Thereafter, the robotic control system may then activate the procedure for returning the anvil to the open position to release the stapled tissue.
  • FIGS. 196-200 depict one form of an automated reloading system embodiment of the present invention, generally designated as 15500 .
  • the automated reloading system 15500 is configured to replace a “spent” surgical end effector component in a manipulatable surgical tool portion of a robotic surgical system with a “new” surgical end effector component.
  • the term “surgical end effector component” may comprise, for example, a surgical staple cartridge, a disposable loading unit or other end effector components that, when used, are spent and must be replaced with a new component.
  • the term “spent” means that the end effector component has been activated and is no longer useable for its intended purpose in its present state.
  • the term “spent” means that at least some of the unformed staples that were previously supported therein have been “fired” therefrom.
  • the term “new” surgical end effector component refers to an end effector component that is in condition for its intended use. In the context of a surgical staple cartridge or disposable loading unit, for example, the term “new” refers to such a component that has unformed staples therein and which is otherwise ready for use.
  • the automated reloading system 15500 includes a base portion 15502 that may be strategically located within a work envelope 11109 of a robotic arm cart 11100 ( FIG. 97 ) of a robotic system 11000 .
  • the term “manipulatable surgical tool portion” collectively refers to a surgical tool of the various types disclosed herein and other forms of surgical robotically-actuated tools that are operably attached to, for example, a robotic arm cart 11100 or similar device that is configured to automatically manipulate and actuate the surgical tool.
  • the term “work envelope” as used herein refers to the range of movement of the manipulatable surgical tool portion of the robotic system.
  • FIG. 97 generally depicts an area that may comprise a work envelope of the robotic arm cart 11100 .
  • work envelope As used herein is intended to cover a variety of different sizes and shapes of work envelopes and should not be limited to the specific size and shape of the sample work envelope depicted in FIG. 97 .
  • the base portion 15502 includes a new component support section or arrangement 15510 that is configured to operably support at least one new surgical end effector component in a “loading orientation”.
  • the term “loading orientation” means that the new end effector component is supported in such away so as to permit the corresponding component support portion of the manipulatable surgical tool portion to be brought into loading engagement with (i.e., operably seated or operably attached to) the new end effector component (or the new end effector component to be brought into loading engagement with the corresponding component support portion of the manipulatable surgical tool portion) without human intervention beyond that which may be necessary to actuate the robotic system.
  • the preparation nurse will load the new component support section before the surgery with the appropriate length and color cartridges (some surgical staple cartridges may support certain sizes of staples the size of which may be indicated by the color of the cartridge body) required for completing the surgical procedure.
  • the surgical end effector component comprises a staple cartridge 12034 that is configured to be operably seated within a component support portion (elongated channel) of any of the various other end effector arrangements described above.
  • new (unused) cartridges will be designated as “ 12034 a ” and spent cartridges will be designated as “ 12034 b ”.
  • cartridges 12034 a , 12034 b designed for use with a surgical end effector 12012 that includes a channel 12022 and an anvil 12024 , the construction and operation of which were discussed in detail above.
  • Cartridges 12034 a , 12034 b are identical to cartridges 12034 described above.
  • the cartridges 12034 a , 12034 b are configured to be snappingly retained (i.e., loading engagement) within the channel 12022 of a surgical end effector 12012 .
  • the term “loading orientation” means that the distal tip portion 12035 a of the a new surgical staple cartridge 12034 a is inserted into a corresponding support cavity 15512 in the new cartridge support section 15510 such that the proximal end portion 12037 a of the new surgical staple cartridge 12034 a is located in a convenient orientation for enabling the arm cart 11100 to manipulate the surgical end effector 12012 into a position wherein the new cartridge 12034 a may be automatically loaded into the channel 12022 of the surgical end effector 12012 .
  • the base 15502 includes at least one sensor 15504 which communicates with the control system 11003 of the robotic controller 11001 to provide the control system 11003 with the location of the base 15502 and/or the reload length and color doe each staged or new cartridge 12034 a.
  • the base 15502 further includes a collection receptacle 15520 that is configured to collect spent cartridges 12034 b that have been removed or disengaged from the surgical end effector 12012 that is operably attached to the robotic system 11000 .
  • the automated reloading system 15500 includes an extraction system 15530 for automatically removing the spent end effector component from the corresponding support portion of the end effector or manipulatable surgical tool portion without specific human intervention beyond that which may be necessary to activate the robotic system.
  • the extraction system 15530 includes an extraction hook member 15532 .
  • the extraction hook member 15532 is rigidly supported on the base portion 15502 .
  • the extraction hook member has at least one hook 5534 formed thereon that is configured to hookingly engage the distal end 12035 of a spent cartridge 12034 b when it is supported in the elongated channel 12022 of the surgical end effector 12012 .
  • the extraction hook member 15532 is conveniently located within a portion of the collection receptacle 15520 such that when the spent end effector component (cartridge 12034 b ) is brought into extractive engagement with the extraction hook member 15532 , the spent end effector component (cartridge 12034 b ) is dislodged from the corresponding component support portion (elongated channel 12022 ), and falls into the collection receptacle 15020 .
  • the manipulatable surgical tool portion manipulates the end effector attached thereto to bring the distal end 12035 of the spent cartridge 12034 b therein into hooking engagement with the hook 15534 and then moves the end effector in such a way to dislodge the spent cartridge 12034 b from the elongated channel 12022 .
  • the extraction hook member 15532 comprises a rotatable wheel configuration that has a pair of diametrically-opposed hooks 15334 protruding therefrom. See FIGS. 196 and 199 .
  • the extraction hook member 15532 is rotatably supported within the collection receptacle 15520 and is coupled to an extraction motor 15540 that is controlled by the controller 11001 of the robotic system.
  • This form of the automated reloading system 15500 may be used as follows.
  • FIG. 198 illustrates the introduction of the surgical end effector 12012 that is operably attached to the manipulatable surgical tool portion 11200 .
  • the arm cart 11100 of the robotic system 11000 locates the surgical end effector 12012 in the shown position wherein the hook end 15534 of the extraction member 15532 hookingly engages the distal end 12035 of the spent cartridge 12034 b in the surgical end effector 12012 .
  • the anvil 12024 of the surgical end effector 12012 is in the open position.
  • the extraction motor 15540 is actuated to rotate the extraction wheel 15532 to disengage the spent cartridge 12034 b from the channel 12022 .
  • the robotic system 11000 may move the surgical end effector 12012 in an upward direction (arrow “U” in FIG. 199 ). As the spent cartridge 12034 b is dislodged from the channel 12022 , the spent cartridge 12034 b falls into the collection receptacle 15520 . Once the spent cartridge 12034 b has been removed from the surgical end effector 12012 , the robotic system 11000 moves the surgical end effector 12012 to the position shown in FIG. 200 .
  • a sensor arrangement 15533 is located adjacent to the extraction member 15532 that is in communication with the controller 11001 of the robotic system 11000 .
  • the sensor arrangement 15533 may comprise a sensor that is configured to sense the presence of the surgical end effector 12012 and, more particularly the tip 12035 b of the spent surgical staple cartridge 12034 b thereof as the distal tip portion 12035 b is brought into engagement with the extraction member 15532 .
  • the sensor arrangement 15533 may comprise, for example, a light curtain arrangement. However, other forms of proximity sensors may be employed.
  • the sensor senses the distal tip 12035 b of the surgical staple cartridge 12034 b (e.g., the light curtain is broken).
  • the extraction member 15532 spins and pops the surgical staple cartridge 12034 b loose and it falls into the collection receptacle 15520 , the light curtain is again unbroken. Because the surgical end effector 12012 was not moved during this procedure, the robotic controller 11001 is assured that the spent surgical staple cartridge 12034 b has been removed therefrom.
  • Other sensor arrangements may also be successfully employed to provide the robotic controller 11001 with an indication that the spent surgical staple cartridge 12034 b has been removed from the surgical end effector 12012 .
  • each cavity 11512 has a corresponding upstanding pressure pad 15514 associated with it.
  • the surgical end effector 12012 is located such that the pressure pad 15514 is located between the new cartridge 12034 a and the anvil 12024 .
  • the robotic system 11000 closes the anvil 12024 onto the pressure pad 15514 which serves to push the new cartridge 12034 a into snapping engagement with the channel 12022 of the surgical end effector 12012 .
  • the robotic system 11000 then withdraws the surgical end effector 12012 from the automated cartridge reloading system 15500 for use in connection with performing another surgical procedure.
  • FIGS. 201-205 depict another automated reloading system 15600 that may be used to remove a spent disposable loading unit 13612 from a manipulatable surgical tool arrangement 13600 ( FIGS. 148-161 ) that is operably attached to an arm cart 11100 or other portion of a robotic system 11000 and reload a new disposable loading unit 13612 therein.
  • a manipulatable surgical tool arrangement 13600 FIGS. 148-161
  • one form of the automated reloading system 15600 includes a housing 15610 that has a movable support assembly in the form of a rotary carrousel top plate 15620 supported thereon which cooperates with the housing 15610 to form a hollow enclosed area 15612 .
  • the automated reloading system 15600 is configured to be operably supported within the work envelop of the manipulatable surgical tool portion of a robotic system as was described above.
  • the rotary carrousel plate 15620 has a plurality of holes 15622 for supporting a plurality of orientation tubes 15660 therein.
  • the rotary carrousel plate 15620 is affixed to a spindle shaft 15624 .
  • the spindle shaft 15624 is centrally disposed within the enclosed area 15612 and has a spindle gear 15626 attached thereto.
  • the spindle gear 15626 is in meshing engagement with a carrousel drive gear 15628 that is coupled to a carrousel drive motor 15630 that is in operative communication with the robotic controller 11001 of the robotic system 11000 .
  • the automated reloading system 15600 may also include a carrousel locking assembly, generally designated as 15640 .
  • the carrousel locking assembly 15640 includes a cam disc 15642 that is affixed to the spindle shaft 15624 .
  • the spindle gear 15626 may be attached to the underside of the cam disc 15642 and the cam disc 15642 may be keyed onto the spindle shaft 15624 .
  • the spindle gear 15626 and the cam disc 15642 may be independently non-rotatably affixed to the spindle shaft 15624 . As can be seen in FIGS.
  • a plurality of notches 15644 are spaced around the perimeter of the cam disc 15642 .
  • a locking arm 15648 is pivotally mounted within the housing 15610 and is biased into engagement with the perimeter of the cam disc 15642 by a locking spring 15649 .
  • the outer perimeter of the cam disc 15642 is rounded to facilitate rotation of the cam disc 15642 relative to the locking arm 15648 .
  • the edges of each notch 15644 are also rounded such that when the cam disc 15642 is rotated, the locking arm 15648 is cammed out of engagement with the notches 15644 by the perimeter of the cam disc 15642 .
  • the replaceable tray assembly 15650 comprises a tray 15652 that has a centrally-disposed locator spindle 15654 protruding from the underside thereof.
  • the locator spindle 15654 is sized to be received within a hollow end 15625 of spindle shaft 15624 .
  • the tray 15652 has a plurality of holes 15656 therein that are configured to support an orientation tube 15660 therein.
  • Each orientation tube 15660 is oriented within a corresponding hole 15656 in the replaceable tray assembly 15650 in a desired orientation by a locating fin 15666 on the orientation tube 15660 that is designed to be received within a corresponding locating slot 15658 in the tray assembly 15650 .
  • the locating fin 15666 has a substantially V-shaped cross-sectional shape that is sized to fit within a V-shaped locating slot 15658 . Such arrangement serves to orient the orientation tube 15660 in a desired starting position while enabling it to rotate within the hole 15656 when a rotary motion is applied thereto.
  • the replaceable tray 15652 may be provided with one or more handle portions 15653 to facilitate transport of the tray assembly 15652 when loaded with orientation tubes 15660 .
  • each orientation tube 15660 comprises a body portion 15662 that has a flanged open end 15664 .
  • the body portion 15662 defines a cavity 15668 that is sized to receive a portion of a disposable loading unit 13612 therein.
  • the cavity 15668 has a flat locating surface 15670 formed therein.
  • the flat locating surface 15670 is configured to facilitate the insertion of the disposable loading unit into the cavity 15668 in a desired or predetermined non-rotatable orientation.
  • the end 15669 of the cavity 15668 may include a foam or cushion material 15672 that is designed to cushion the distal end of the disposable loading unit 13612 within the cavity 15668 .
  • the length of the locating surface may cooperate with a sliding support member 13689 of the axial drive assembly 13680 of the disposable loading unit 13612 to further locate the disposable loading unit 13612 at a desired position within the orientation tube 15660 .
  • the orientation tubes 15660 may be fabricated from Nylon, polycarbonate, polyethylene, liquid crystal polymer, 6061 or 7075 aluminum, titanium, 300 or 400 series stainless steel, coated or painted steel, plated steel, etc. and, when loaded in the replaceable tray 15662 and the locator spindle 15654 is inserted into the hollow end 15625 of spindle shaft 15624 , the orientation tubes 15660 extend through corresponding holes 15662 in the carrousel top plate 15620 . Each replaceable tray 15662 is equipped with a location sensor 15663 that communicates with the control system 11003 of the controller 11001 of the robotic system 11000 .
  • the sensor 15663 serves to identify the location of the reload system, and the number, length, color and fired status of each reload housed in the tray.
  • an optical sensor or sensors 15665 that communicate with the robotic controller 11001 may be employed to sense the type/size/length of disposable loading units that are loaded within the tray 15662 .
  • Various embodiments of the automated reloading system 15600 further include a drive assembly 15680 for applying a rotary motion to the orientation tube 15660 holding the disposable loading unit 13612 to be attached to the shaft 13700 of the surgical tool 13600 (collectively the “manipulatable surgical tool portion”) that is operably coupled to the robotic system.
  • the drive assembly 15680 includes a support yoke 15682 that is attached to the locking arm 15648 .
  • the support yoke 15682 pivots with the locking arm 15648 .
  • the support yoke 15682 rotatably supports a tube idler wheel 15684 and a tube drive wheel 15686 that is driven by a tube motor 15688 attached thereto.
  • Tube motor 15688 communicates with the control system 11003 and is controlled thereby.
  • the tube idler wheel 15684 and tube drive wheel 15686 are fabricated from, for example, natural rubber, sanoprene, isoplast, etc. such that the outer surfaces thereof create sufficient amount of friction to result in the rotation of an orientation tube 15660 in contact therewith upon activation of the tube motor 15688 .
  • the idler wheel 15684 and tube drive wheel 15686 are oriented relative to each other to create a cradle area 15687 therebetween for receiving an orientation tube 15060 in driving engagement therein.
  • orientation tubes 15660 loaded in the automated reloading system 15600 are left empty, while the other orientation tubes 15660 may operably support a corresponding new disposable loading unit 13612 therein.
  • the empty orientation tubes 15660 are employed to receive a spent disposable loading unit 13612 therein.
  • the automated reloading system 15600 may be employed as follows after the system 15600 is located within the work envelope of the manipulatable surgical tool portion of a robotic system. If the manipulatable surgical tool portion has a spent disposable loading unit 13612 operably coupled thereto, one of the orientation tubes 15660 that are supported on the replaceable tray 15662 is left empty to receive the spent disposable loading unit 13612 therein. If, however, the manipulatable surgical tool portion does not have a disposable loading unit 13612 operably coupled thereto, each of the orientation tubes 15660 may be provided with a properly oriented new disposable loading unit 13612 .
  • the disposable loading unit 13612 employs a rotary “bayonet-type” coupling arrangement for operably coupling the disposable loading unit 13612 to a corresponding portion of the manipulatable surgical tool portion. That is, to attach a disposable loading unit 13612 to the corresponding portion of the manipulatable surgical tool portion ( 13700 —see FIG. 154 , 155 ), a rotary installation motion must be applied to the disposable loading unit 13612 and/or the corresponding portion of the manipulatable surgical tool portion when those components have been moved into loading engagement with each other. Such installation motions are collectively referred to herein as “loading motions”.
  • a rotary decoupling motion must be applied to the spent disposable loading unit 13612 and/or the corresponding portion of the manipulatable surgical tool portion while simultaneously moving the spent disposable loading unit and the corresponding portion of the manipulatable surgical tool away from each other.
  • decoupling motions are collectively referred to herein as “extraction motions”.
  • the robotic system 11000 is activated to manipulate the manipulatable surgical tool portion and/or the automated reloading system 15600 to bring the manipulatable surgical tool portion into loading engagement with the new disposable loading unit 13612 that is supported in the orientation tube 15660 that is in driving engagement with the drive assembly 15680 .
  • the robotic controller 11001 FIG. 96
  • the robotic controller 11001 activates the drive assembly 15680 to apply a rotary loading motion to the orientation tube 15660 in which the new disposable loading unit 13612 is supported and/or applies another rotary loading motion to the corresponding portion of the manipulatable surgical tool portion.
  • the robotic controller 11001 Upon application of such rotary loading motions(s), the robotic controller 11001 also causes the corresponding portion of the manipulatable surgical tool portion to be moved towards the new disposable loading unit 13612 into loading engagement therewith. Once the disposable loading unit 13612 is in loading engagement with the corresponding portion of the manipulatable tool portion, the loading motions are discontinued and the manipulatable surgical tool portion may be moved away from the automated reloading system 15600 carrying with it the new disposable loading unit 13612 that has been operably coupled thereto.
  • the robotic controller 11001 of the robotic system manipulates the manipulatable surgical tool portion so as to insert the distal end of the spent disposable loading unit 13612 into the empty orientation tube 15660 that remains in driving engagement with the drive assembly 15680 . Thereafter, the robotic controller 11001 activates the drive assembly 15680 to apply a rotary extraction motion to the orientation tube 15660 in which the spent disposable loading unit 13612 is supported and/or applies a rotary extraction motion to the corresponding portion of the manipulatable surgical tool portion. The robotic controller 11001 also causes the manipulatable surgical tool portion to withdraw away from the spent rotary disposable loading unit 13612 . Thereafter the rotary extraction motion(s) are discontinued.
  • the robotic controller 11001 may activate the carrousel drive motor 15630 to index the carrousel top plate 15620 to bring another orientation tube 15660 that supports a new disposable loading unit 13612 therein into driving engagement with the drive assembly 15680 . Thereafter, the loading process may be repeated to attach the new disposable loading unit 13612 therein to the portion of the manipulatable surgical tool portion.
  • the robotic controller 11001 may record the number of disposable loading units that have been used from a particular replaceable tray 15652 .
  • the controller 11001 may provide the surgeon with a signal (visual and/or audible) indicating that the tray 15652 supporting all of the spent disposable loading units 13612 must be replaced with a new tray 15652 containing new disposable loading units 13612 .
  • FIGS. 206-211 depict another non-limiting embodiment of a surgical tool 16000 of the present invention that is well-adapted for use with a robotic system 11000 that has a tool drive assembly 11010 ( FIG. 101 ) that is operatively coupled to a master controller 11001 that is operable by inputs from an operator (i.e., a surgeon).
  • the surgical tool 16000 includes a surgical end effector 16012 that comprises an endocutter.
  • the surgical tool 16000 generally includes an elongated shaft assembly 16008 that has a proximal closure tube 16040 and a distal closure tube 16042 that are coupled together by an articulation joint 16100 .
  • the surgical tool 16000 is operably coupled to the manipulator by a tool mounting portion, generally designated as 16200 .
  • the surgical tool 16000 further includes an interface 16030 which may mechanically and electrically couple the tool mounting portion 16200 to the manipulator in the various manners described in detail above.
  • the surgical tool 16000 includes a surgical end effector 16012 that comprises, among other things, at least one component 16024 that is selectively movable between first and second positions relative to at least one other component 16022 in response to various control motions applied to component 16024 as will be discussed in further detail below to perform a surgical procedure.
  • component 16022 comprises an elongated channel 16022 configured to operably support a surgical staple cartridge 16034 therein and component 16024 comprises a pivotally translatable clamping member, such as an anvil 16024 .
  • the surgical end effector 16012 are configured to maintain the anvil 16024 and elongated channel 16022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 16012 .
  • the end effector 16012 is similar to the surgical end effector 12012 described above and includes a cutting instrument (not shown) and a sled (not shown).
  • the anvil 16024 may include a tab 16027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 16024 .
  • the elongated channel 16022 and the anvil 16024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above.
  • the surgical staple cartridge 16034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 16034 , as was also described above.
  • the surgical end effector 16012 is attached to the tool mounting portion 16200 by the elongated shaft assembly 16008 according to various embodiments.
  • the elongated shaft assembly 16008 includes an articulation joint generally designated as 16100 that enables the surgical end effector 16012 to be selectively articulated about a first tool articulation axis AA 1 -AA 1 that is substantially transverse to a longitudinal tool axis LT-LT and a second tool articulation axis AA 2 -AA 2 that is substantially transverse to the longitudinal tool axis LT-LT as well as the first articulation axis AA 1 -AA 1 . See FIG. 207 .
  • the elongated shaft assembly 16008 includes a closure tube assembly 16009 that comprises a proximal closure tube 16040 and a distal closure tube 16042 that are pivotably linked by a pivot links 16044 and 16046 .
  • the closure tube assembly 16009 is movably supported on a spine assembly generally designated as 16102 .
  • the proximal closure tube 16040 is pivotally linked to an intermediate closure tube joint 16043 by an upper pivot link 16044 U and a lower pivot link 16044 L such that the intermediate closure tube joint 16043 is pivotable relative to the proximal closure tube 16040 about a first closure axis CA 1 -CA 1 and a second closure axis CA 2 -CA 2 .
  • the first closure axis CA 1 -CA 1 is substantially parallel to the second closure axis CA 2 -CA 2 and both closure axes CA 1 -CA 1 , CA 2 -CA 2 are substantially transverse to the longitudinal tool axis LT-LT.
  • the intermediate closure tube joint 16043 is pivotally linked to the distal closure tube 16042 by a left pivot link 16046 L and a right pivot link 16046 R such that the intermediate closure tube joint 16043 is pivotable relative to the distal closure tube 16042 about a third closure axis CA 3 -CA 3 and a fourth closure axis CA 4 -CA 4 .
  • the third closure axis CA 3 -CA 3 is substantially parallel to the fourth closure axis CA 4 -CA 4 and both closure axes CA 3 -CA 3 , CA 4 -CA 4 are substantially transverse to the first and second closure axes CA 1 -CA 1 , CA 2 -CA 2 as well as to longitudinal tool axis LT-LT.
  • the closure tube assembly 16009 is configured to axially slide on the spine assembly 16102 in response to actuation motions applied thereto.
  • the distal closure tube 16042 includes an opening 16045 which interfaces with the tab 16027 on the anvil 16024 to facilitate opening of the anvil 16024 as the distal closure tube 16042 is moved axially in the proximal direction “PD”.
  • the closure tubes 16040 , 16042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above.
  • Components of the spine assembly 16102 may be made of a nonconductive material (such as plastic).
  • the surgical tool 16000 includes a tool mounting portion 16200 that is configured for operable attachment to the tool mounting assembly 11010 of the robotic system 11000 in the various manners described in detail above.
  • the tool mounting portion 16200 comprises a tool mounting plate 16202 that operably supports a transmission arrangement 16204 thereon.
  • the transmission arrangement 16204 includes an articulation transmission 16142 that comprises a portion of an articulation system 16140 for articulating the surgical end effector 16012 about a first tool articulation axis TA 1 -TA 1 and a second tool articulation axis TA 2 -TA 2 .
  • the first tool articulation axis TA 1 -TA 1 is substantially transverse to the second tool articulation axis TA 2 -TA 2 and both of the first and second tool articulation axes are substantially transverse to the longitudinal tool axis LT-LT. See FIG. 207 .
  • the spine assembly 16102 comprises a proximal spine portion 16110 that is pivotally coupled to a distal spine portion 16120 by pivot pins 16122 for selective pivotal travel about TA 1 -TA 1 .
  • the distal spine portion 16120 is pivotally attached to the elongated channel 16022 of the surgical end effector 16012 by pivot pins 16124 to enable the surgical end effector 16012 to selectively pivot about the second tool axis TA 2 -TA 2 relative to the distal spine portion 16120 .
  • the articulation system 16140 further includes a plurality of articulation elements that operably interface with the surgical end effector 16012 and an articulation control arrangement 16160 that is operably supported in the tool mounting member 16200 as will described in further detail below.
  • the articulation elements comprise a first pair of first articulation cables 16144 and 16146 .
  • the first articulation cables are located on a first or right side of the longitudinal tool axis.
  • the first articulation cables are referred to herein as a right upper cable 16144 and a right lower cable 16146 .
  • the right upper cable 16144 and the right lower cable 16146 extend through corresponding passages 16147 , 16148 , respectively along the right side of the proximal spine portion 16110 .
  • the articulation system 16140 further includes a second pair of second articulation cables 16150 , 16152 .
  • the second articulation cables are located on a second or left side of the longitudinal tool axis.
  • the second articulation cables are referred to herein as a left upper articulation cable 16150 and a left articulation cable 16152 .
  • the left upper articulation cable 16150 and the left lower articulation cable 16152 extend through passages 16153 , 16154 , respectively in the proximal spine portion 16110 .
  • the right upper cable 16144 extends around an upper pivot joint 16123 and is attached to a left upper side of the elongated channel 16022 at a left pivot joint 16125 .
  • the right lower cable 16146 extends around a lower pivot joint 16126 and is attached to a left lower side of the elongated channel 16022 at left pivot joint 16125 .
  • the left upper cable 16150 extends around the upper pivot joint 16123 and is attached to a right upper side of the elongated channel 16022 at a right pivot joint 16127 .
  • the left lower cable 16152 extends around the lower pivot joint 16126 and is attached to a right lower side of the elongated channel 16022 at right pivot joint 16127 .
  • the proximal ends of the articulation cables 16144 , 16146 , 16150 , 16152 are coupled to the articulation control arrangement 16160 which comprises a ball joint assembly that is a part of the articulation transmission 16142 . More specifically and with reference to FIG. 211 , the ball joint assembly 16160 includes a ball-shaped member 16162 that is formed on a proximal portion of the proximal spine 16110 . Movably supported on the ball-shaped member 16162 is an articulation control ring 16164 . As can be further seen in FIG.
  • the proximal ends of the articulation cables 16144 , 16146 , 16150 , 16152 are coupled to the articulation control ring 16164 by corresponding ball joint arrangements 16166 .
  • the articulation control ring 16164 is controlled by an articulation drive assembly 16170 .
  • the proximal ends of the first articulation cables 16144 , 16146 are attached to the articulation control ring 16164 at corresponding spaced first points 16149 , 16151 that are located on plane 16159 .
  • the proximal ends of the second articulation cables 16150 , 16152 are attached to the articulation control ring 16164 at corresponding spaced second points 16153 , 16155 that are also located along plane 16159 .
  • the cable attachment configuration on the articulation control ring 16164 facilitates the desired range of articulation motions as the articulation control ring 16164 is manipulated by the articulation drive assembly 16170 .
  • the articulation drive assembly 16170 comprises a horizontal articulation assembly generally designated as 16171 .
  • the horizontal articulation assembly 16171 comprises a horizontal push cable 16172 that is attached to a horizontal gear arrangement 16180 .
  • the articulation drive assembly 16170 further comprises a vertically articulation assembly generally designated as 16173 .
  • the vertical articulation assembly 16173 comprises a vertical push cable 16174 that is attached to a vertical gear arrangement 16190 .
  • the horizontal push cable 16172 extends through a support plate 16167 that is attached to the proximal spine portion 16110 .
  • the distal end of the horizontal push cable 16174 is attached to the articulation control ring 16164 by a corresponding ball/pivot joint 16168 .
  • the vertical push cable 16174 extends through the support plate 16167 and the distal end thereof is attached to the articulation control ring 16164 by a corresponding ball/pivot joint 16169 .
  • the horizontal gear arrangement 16180 includes a horizontal driven gear 16182 that is pivotally mounted on a horizontal shaft 16181 that is attached to a proximal portion of the proximal spine portion 16110 .
  • the proximal end of the horizontal push cable 16172 is pivotally attached to the horizontal driven gear 16182 such that, as the horizontal driven gear 16172 is rotated about horizontal pivot axis HA, the horizontal push cable 16172 applies a first pivot motion to the articulation control ring 16164 .
  • the vertical gear arrangement 16190 includes a vertical driven gear 16192 that is pivotally supported on a vertical shaft 16191 attached to the proximal portion of the proximal spine portion 16110 for pivotal travel about a vertical pivot axis VA.
  • the proximal end of the vertical push cable 16174 is pivotally attached to the vertical driven gear 16192 such that as the vertical driven gear 16192 is rotated about vertical pivot axis VA, the vertical push cable 16174 applies a second pivot motion to the articulation control ring 16164 .
  • the horizontal driven gear 16182 and the vertical driven gear 16192 are driven by an articulation gear train 16300 that operably interfaces with an articulation shifter assembly 16320 .
  • the articulation shifter assembly comprises an articulation drive gear 16322 that is coupled to a corresponding one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202 . See FIG. 210 .
  • application of a rotary input motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will cause rotation of the articulation drive gear 16322 when the interface 11230 is coupled to the tool holder 11270 .
  • An articulation driven gear 16324 is attached to a splined shifter shaft 16330 that is rotatably supported on the tool mounting plate 16202 .
  • the articulation driven gear 16324 is in meshing engagement with the articulation drive gear 16322 as shown.
  • rotation of the articulation drive gear 16322 will result in the rotation of the shaft 16330 .
  • a shifter driven gear assembly 16340 is movably supported on the splined portion 16332 of the shifter shaft 16330 .
  • the shifter driven gear assembly 16340 includes a driven shifter gear 16342 that is attached to a shifter plate 16344 .
  • the shifter plate 16344 operably interfaces with a shifter solenoid assembly 16350 .
  • the shifter solenoid assembly 16350 is coupled to corresponding pins 16352 by conductors 16352 . See FIG. 210 .
  • Pins 16352 are oriented to electrically communicate with slots 11258 ( FIG. 104 ) on the tool side 11244 of the adaptor 11240 . Such arrangement serves to electrically couple the shifter solenoid assembly 16350 to the robotic controller 11001 .
  • Various embodiments of the articulation gear train 16300 further include a horizontal gear assembly 16360 that includes a first horizontal drive gear 16362 that is mounted on a shaft 16361 that is rotatably attached to the tool mounting plate 16202 .
  • the first horizontal drive gear 16362 is supported in meshing engagement with a second horizontal drive gear 16364 .
  • the horizontal driven gear 16182 is in meshing engagement with the distal face portion 16365 of the second horizontal driven gear 16364 .
  • a vertical gear assembly 16370 that includes a first vertical drive gear 16372 that is mounted on a shaft 16371 that is rotatably supported on the tool mounting plate 16202 .
  • the first vertical drive gear 16372 is supported in meshing engagement with a second vertical drive gear 16374 that is concentrically supported with the second horizontal drive gear 16364 .
  • the second vertical drive gear 16374 is rotatably supported on the proximal spine portion 16110 for travel therearound.
  • the second horizontal drive gear 16364 is rotatably supported on a portion of said second vertical drive gear 16374 for independent rotatable travel thereon.
  • the vertical driven gear 16192 is in meshing engagement with the distal face portion 16375 of the second vertical driven gear 16374 .
  • the first horizontal drive gear 16362 has a first diameter and the first vertical drive gear 16372 has a second diameter.
  • the shaft 16361 is not on a common axis with shaft 16371 . That is, the first horizontal driven gear 16362 and the first vertical driven gear 16372 do not rotate about a common axis.
  • the shifter gear 16342 is positioned in a center “locking” position such that the shifter gear 16342 is in meshing engagement with both the first horizontal driven gear 16362 and the first vertical drive gear 16372 , the components of the articulation system 16140 are locked in position.
  • the shiftable shifter gear 16342 and the arrangement of first horizontal and vertical drive gears 16362 , 16372 as well as the articulation shifter assembly 16320 collectively may be referred to as an articulation locking system, generally designated as 16380 .
  • the robotic controller 11001 of the robotic system 11000 may control the articulation system 16140 as follows. To articulate the end effector 16012 to the left about the first tool articulation axis TA 1 -TA 1 , the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362 . Thereafter, the controller 11001 causes a first rotary output motion to be applied to the articulation drive gear 16322 to drive the shifter gear in a first direction to ultimately drive the horizontal driven gear 16182 in another first direction.
  • the horizontal driven gear 16182 is driven to pivot the articulation ring 16164 on the ball-shaped portion 16162 to thereby pull right upper cable 16144 and the right lower cable 16146 in the proximal direction “PD”.
  • the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362 . Thereafter, the controller 11001 causes the first rotary output motion in an opposite direction to be applied to the articulation drive gear 16322 to drive the shifter gear 16342 in a second direction to ultimately drive the horizontal driven gear 16182 in another second direction.
  • Such actions result in the articulation control ring 16164 moving in such a manner as to pull the left upper cable 16150 and the left lower cable 16152 in the proximal direction “PD”.
  • the gear ratios and frictional forces generated between the gears of the vertical gear assembly 16370 serve to prevent rotation of the vertical driven gear 16192 as the horizontal gear assembly 16360 is actuated.
  • the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first vertical drive gear 16372 . Thereafter, the controller 11001 causes the first rotary output motion to be applied to the articulation drive gear 16322 to drive the shifter gear 16342 in a first direction to ultimately drive the vertical driven gear 16192 in another first direction.
  • the vertical driven gear 16192 is driven to pivot the articulation ring 16164 on the ball-shaped portion 16162 of the proximal spine portion 16110 to thereby pull right upper cable 16144 and the left upper cable 16150 in the proximal direction “PD”.
  • the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first vertical drive gear 16372 . Thereafter, the controller 11001 causes the first rotary output motion to be applied in an opposite direction to the articulation drive gear 16322 to drive the shifter gear 16342 in a second direction to ultimately drive the vertical driven gear 16192 in another second direction. Such actions thereby cause the articulation control ring 16164 to pull the right lower cable 16146 and the left lower cable 16152 in the proximal direction “PD”.
  • the gear ratios and frictional forces generated between the gears of the horizontal gear assembly 16360 serve to prevent rotation of the horizontal driven gear 16182 as the vertical gear assembly 16370 is actuated.
  • a variety of sensors may communicate with the robotic controller 11001 to determine the articulated position of the end effector 16012 .
  • Such sensors may interface with, for example, the articulation joint 16100 or be located within the tool mounting portion 16200 .
  • sensors may be employed to detect the position of the articulation control ring 16164 on the ball-shaped portion 16162 of the proximal spine portion 16110 .
  • Such feedback from the sensors to the controller 11001 permits the controller 11001 to adjust the amount of rotation and the direction of the rotary output to the articulation drive gear 16322 .
  • the controller 11001 may activate the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362 and the first vertical drive gear 16372 .
  • the shifter solenoid assembly 16350 may be spring activated to the central locked position.
  • the transmission arrangement 16204 on the tool mounting portion includes a rotational transmission assembly 16400 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 16008 (and surgical end effector 16012 ) about the longitudinal tool axis LT-LT.
  • a proximal end portion 16041 of the proximal closure tube 16040 is rotatably supported on the tool mounting plate 16202 of the tool mounting portion 16200 by a forward support cradle 16205 and a closure sled 16510 that is also movably supported on the tool mounting plate 16202 .
  • the rotational transmission assembly 16400 includes a tube gear segment 16402 that is formed on (or attached to) the proximal end 16041 of the proximal closure tube 16040 for operable engagement by a rotational gear assembly 16410 that is operably supported on the tool mounting plate 16202 . As can be seen in FIG.
  • the rotational gear assembly 16410 in at least one embodiment, comprises a rotation drive gear 16412 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202 when the tool mounting portion 16200 is coupled to the tool drive assembly 11010 . See FIG. 105 .
  • the rotational gear assembly 16410 further comprises a first rotary driven gear 16414 that is rotatably supported on the tool mounting plate 16202 in meshing engagement with the rotation drive gear 16412 .
  • the first rotary driven gear 16414 is attached to a drive shaft 16416 that is rotatably supported on the tool mounting plate 16202 .
  • a second rotary driven gear 16418 is attached to the drive shaft 16416 and is in meshing engagement with tube gear segment 16402 on the proximal closure tube 16040 .
  • Application of a second rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 16412 .
  • Rotation of the rotation drive gear 16412 ultimately results in the rotation of the elongated shaft assembly 16008 (and the surgical end effector 16012 ) about the longitudinal tool axis LT-LT.
  • the closure of the anvil 12024 relative to the staple cartridge 12034 is accomplished by axially moving a closure portion of the elongated shaft assembly 12008 in the distal direction “DD” on the spine assembly 12049 .
  • the proximal end portion 16041 of the proximal closure tube 16040 is supported by the closure sled 16510 which comprises a portion of a closure transmission, generally depicted as 16512 .
  • the proximal end portion 16041 of the proximal closure tube portion 16040 has a collar 6048 formed thereon.
  • the closure sled 16510 is coupled to the collar 16048 by a yoke 16514 that engages an annular groove 16049 in the collar 16048 . Such arrangement serves to enable the collar 16048 to rotate about the longitudinal tool axis LT-LT while still being coupled to the closure transmission 16512 .
  • the closure sled 16510 has an upstanding portion 16516 that has a closure rack gear 16518 formed thereon.
  • the closure rack gear 16518 is configured for driving engagement with a closure gear assembly 16520 . See FIG. 210 .
  • the closure gear assembly 16520 includes a closure spur gear 16522 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202 . See FIG. 210 .
  • the closure gear assembly 16520 further includes a closure reduction gear set 16524 that is supported in meshing engagement with the closure spur gear 16522 and the closure rack gear 12106 .
  • a third rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 16522 and the closure transmission 16512 and ultimately drive the closure sled 16510 and the proximal closure tube 16040 axially on the proximal spine portion 16110 .
  • the axial direction in which the proximal closure tube 16040 moves ultimately depends upon the direction in which the third driven element 11304 is rotated.
  • the closure sled 16510 will be driven in the distal direction “DD” and ultimately drive the proximal closure tube 16040 in the distal direction “DD”.
  • the distal closure tube 16042 is also driven distally by virtue of it connection with the proximal closure tube 16040 .
  • the end of the closure tube 16042 will engage a portion of the anvil 16024 and cause the anvil 16024 to pivot to a closed position.
  • the closure sled 16510 and the proximal closure tube 16040 will be driven in the proximal direction “PD” on the proximal spine portion 16110 .
  • the distal closure tube 16042 will also be driven in the proximal direction “PD”.
  • the opening 16045 therein interacts with the tab 16027 on the anvil 16024 to facilitate the opening thereof.
  • a spring (not shown) may be employed to bias the anvil 16024 to the open position when the distal closure tube 16042 has been moved to its starting position.
  • the various gears of the closure gear assembly 16520 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 16024 onto the tissue to be cut and stapled by the surgical end effector 16012 .
  • the gears of the closure transmission 16520 may be sized to generate approximately 70-120 pounds of closure forces.
  • the cutting instrument is driven through the surgical end effector 16012 by a knife bar 16530 .
  • the knife bar 16530 is fabricated with a joint arrangement (not shown) and/or is fabricated from material that can accommodate the articulation of the surgical end effector 16102 about the first and second tool articulation axes while remaining sufficiently rigid so as to push the cutting instrument through tissue clamped in the surgical end effector 16012 .
  • the knife bar 16530 extends through a hollow passage 16532 in the proximal spine portion 16110 .
  • a proximal end 16534 of the knife bar 16530 is rotatably affixed to a knife rack gear 16540 such that the knife bar 16530 is free to rotate relative to the knife rack gear 16540 .
  • the distal end of the knife bar 16530 is attached to the cutting instrument in the various manners described above.
  • the knife rack gear 16540 is slidably supported within a rack housing 16542 that is attached to the tool mounting plate 16202 such that the knife rack gear 16540 is retained in meshing engagement with a knife drive transmission portion 16550 of the transmission arrangement 16204 .
  • the knife drive transmission portion 16550 comprises a knife gear assembly 16560 . More specifically and with reference to FIG.
  • the knife gear assembly 16560 includes a knife spur gear 16562 that is coupled to a corresponding fourth one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202 . See FIG. 105 .
  • the knife gear assembly 16560 further includes a knife gear reduction set 16564 that includes a first knife driven gear 16566 and a second knife drive gear 16568 .
  • the knife gear reduction set 16564 is rotatably mounted to the tool mounting plate 16202 such that the firs knife driven gear 16566 is in meshing engagement with the knife spur gear 16562 .
  • the second knife drive gear 16568 is in meshing engagement with a third knife drive gear assembly 16570 .
  • the second knife driven gear 16568 is in meshing engagement with a fourth knife driven gear 16572 of the third knife drive gear assembly 16570 .
  • the fourth knife driven gear 16572 is in meshing engagement with a fifth knife driven gear assembly 16574 that is in meshing engagement with the knife rack gear 16540 .
  • the gears of the knife gear assembly 16560 are sized to generate the forces needed to drive the cutting instrument through the tissue clamped in the surgical end effector 16012 and actuate the staples therein.
  • the gears of the knife gear assembly 16560 may be sized to generate approximately 40 to 100 pounds of driving force. It will be appreciated that the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the axial movement of the cutting instrument in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument in a proximal direction.
  • the surgical tool 16000 represents a vast improvement over prior robotic tool arrangements.
  • the unique and novel transmission arrangement employed by the surgical tool 16000 enables the tool to be operably coupled to a tool holder portion 11010 of a robotic system that only has four rotary output bodies, yet obtain the rotary output motions therefrom to: (i) articulate the end effector about two different articulation axes that are substantially transverse to each other as well as the longitudinal tool axis; (ii) rotate the end effector 16012 about the longitudinal tool axis; (iii) close the anvil 16024 relative to the surgical staple cartridge 16034 to varying degrees to enable the end effector 16012 to be used to manipulate tissue and then clamp it into position for cutting and stapling; and (iv) firing the cutting instrument to cut through the tissue clamped within the end effector 16012 .
  • the unique and novel shifter arrangements of various embodiments of the present invention described above enable two different articulation actions to be powered from a single rotatable body portion of the robotic
  • the inventive surgical instrument disclosed herein need not be a cutting-type surgical instrument, but rather could be used in any type of surgical instrument including remote sensor transponders.
  • it could be a non-cutting endoscopic instrument, a grasper, a stapler, a clip applier, an access device, a drug/gene therapy delivery device, an energy device using ultrasound, RF, laser, etc.
  • the present invention may be in laparoscopic instruments, for example.
  • the present invention also has application in conventional endoscopic and open surgical instrumentation as well as robotic-assisted surgery.
  • FIG. 211 depicts use of various aspects of certain embodiments of the present invention in connection with a surgical tool 17000 that has an ultrasonically powered end effector 17012 .
  • the end effector 17012 is operably attached to a tool mounting portion 17100 by an elongated shaft assembly 17008 .
  • the tool mounting portion 17100 may be substantially similar to the various tool mounting portions described hereinabove.
  • the end effector 17012 includes an ultrasonically powered jaw portion 17014 that is powered by alternating current or direct current in a known manner.
  • Such ultrasonically-powered devices are disclosed, for example, in U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument”, the entire disclosure of which is herein incorporated by reference.
  • a separate power cord 17020 is shown. It will be understood, however, that the power may be supplied thereto from the robotic controller 1001 through the tool mounting portion 17100 .
  • the surgical end effector 17012 further includes a movable jaw 17016 that may be used to clamp tissue onto the ultrasonic jaw portion 17014 .
  • the movable jaw portion 17016 may be selectively actuated by the robotic controller 11001 through the tool mounting portion 17100 in anyone of the various manners herein described.
  • FIG. 213 illustrates use of various aspects of certain embodiments of the present invention in connection with a surgical tool 18000 that has an end effector 18012 that comprises a linear stapling device.
  • the end effector 18012 is operably attached to a tool mounting portion 18100 by an elongated shaft assembly 13700 of the type and construction describe above.
  • the end effector 18012 may be attached to the tool mounting portion 18100 by a variety of other elongated shaft assemblies described herein.
  • the tool mounting portion 18100 may be substantially similar to tool mounting portion 13750 .
  • various other tool mounting portions and their respective transmission arrangements describe in detail herein may also be employed.
  • Such linear stapling head portions are also disclosed, for example, in U.S. Pat. No. 7,673,781, entitled “Surgical Stapling Device With Staple Driver That Supports Multiple Wire Diameter Staples”, the entire disclosure of which is herein incorporated by reference.
  • the master controller 11001 generally includes master controllers (generally represented by 11003 ) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display 11002 . See FIG. 96 .
  • the master controllers 11001 are manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating the surgical tools.
  • Some of the surgical tool embodiments disclosed herein employ a motor or motors in their tool drive portion to supply various control motions to the tool's end effector. Such embodiments may also obtain additional control motion(s) from the motor arrangement employed in the robotic system components. Other embodiments disclosed herein obtain all of the control motions from motor arrangements within the robotic system.
  • Such motor powered arrangements may employ various sensor arrangements that are disclosed in the published US patent application cited above to provide the surgeon with a variety of forms of feedback without departing from the spirit and scope of the present invention.
  • those master controller arrangements 11003 that employ a manually actuatable firing trigger can employ run motor sensor(s) to provide the surgeon with feedback relating to the amount of force applied to or being experienced by the cutting member.
  • the run motor sensor(s) may be configured for communication with the firing trigger portion to detect when the firing trigger portion has been actuated to commence the cutting/stapling operation by the end effector.
  • the run motor sensor may be a proportional sensor such as, for example, a rheostat or variable resistor.
  • the sensor When the firing trigger is drawn in, the sensor detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the corresponding motor.
  • the rotation of the motor may be generally proportional to the amount of movement of the firing trigger. That is, if the operator only draws or closes the firing trigger in a small amount, the rotation of the motor is relatively low.
  • the rotation of the motor is at its maximum. In other words, the harder the surgeon pulls on the firing trigger, the more voltage is applied to the motor causing greater rates of rotation.
  • Other arrangements may provide the surgeon with a feed back meter 11005 that may be viewed through the display 1002 and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic clamping member.
  • Other sensor arrangements may be employed to provide the master controller 11001 with an indication as to whether a staple cartridge has been loaded into the end effector, whether the anvil has been moved to a closed position prior to firing, etc.
  • a motor-controlled interface may be employed in connection with the controller 11001 that limit the maximum trigger pull based on the amount of loading (e.g., clamping force, cutting force, etc.) experienced by the surgical end effector. For example, the harder it is to drive the cutting instrument through the tissue clamped within the end effector, the harder it would be to pull/actuate the activation trigger.
  • the trigger on the controller 11001 is arranged such that the trigger pull location is proportionate to the end effector-location/condition. For example, the trigger is only fully depressed when the end effector is fully fired.
  • the devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure.
  • reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Abstract

A cable-driven surgical tool configured to receive various control motions from a robotic system.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS
The present application is a continuation patent application and claims the benefit of U.S. patent application Ser. No. 13/118,278, filed May 27, 2011, entitled “Robotically-Controlled Surgical Stapling Devices That Produce Formed Staples Having Different Lengths”, which is a continuation-in-part patent application of and claims the benefit of U.S. patent application Ser. No. 11/711,979, filed Feb. 28, 2007, entitled “Surgical Stapling devices That Produce Formed Staples Having Different Lengths” to Joseph C. Hueil, Jeffrey S. Swayze, and Frederick E. Shelton, IV, U.S. Patent Application Publication No. US 2007/0194081 A1, which is a continuation-in-part patent application under 35 U.S.C. §120 of and claims the benefit of U.S. patent application Ser. No. 11/216,562, filed Aug. 31, 2005, entitled “Staple Cartridges For Forming Staples Having Differing Formed Staple Heights,” by F. Shelton, now U.S. Pat. No. 7,669,746, issued Mar. 2, 2010, the respective disclosures of which are all herein incorporated by reference in their respective entireties.
The present application is also related to the following, concurrently-filed U.S. patent applications, which are incorporated herein by reference:
    • (1) “Surgical Stapling Device With Staple Driver That Supports Multiple Wire Diameter Staples,” by J. Swayze et al., U.S. patent application Ser. No. 11/711,977, now U.S. Pat. No. 7,673,781;
    • (2) “Surgical Stapling Device With Anvil Having Staple Forming Pockets Of Varying Depth,” by J. Morgan et al., U.S. patent application Ser. No. 11/714,049, now U.S. Patent Publication No. 2007/0194082;
    • (3) “Surgical Stapling Device With Multiple Stacked Actuator Wedge Cams For Driving Staple Drivers,” by J. Hueil et al., U.S. patent application Ser. No. 11/712,315, now U.S. Pat. No. 7,500,979;
    • (4) “Surgical Stapling Device With Staple Drivers Of Different Height,” by J. Hueil et al., U.S. patent application Ser. No. 11/711,975, now U.S. Patent Publication No. 2007/0194079; and
    • (5) “Staple Cartridges For Forming Staples Having Differing Formed Staple Heights,” by F. Shelton, IV, U.S. patent application Ser. No. 12/695,359, now U.S. Patent Publication No. 2010/0127042.
FIELD OF THE INVENTION
The present invention relates in general to stapling instruments that are capable of applying lines of staples and, more particularly, to improvements relating to staple cartridges for use with surgical stapling instruments that are capable of applying lines of staples having differing formed staple heights to tissue while simultaneously cutting the tissue.
BACKGROUND OF THE INVENTION
Surgical staplers have been used in the prior art to simultaneously make a longitudinal incision in tissue and apply lines of staples on opposing sides of the incision. Such instruments commonly include a pair of cooperating jaw members that, if the instrument is intended for endoscopic or laparoscopic applications, are capable of passing through a cannula passageway. One of the jaw members receives a staple cartridge having at least two laterally spaced rows of staples. The other jaw member defines an anvil having staple-forming pockets aligned with the rows of staples in the cartridge. The instrument includes a plurality of reciprocating wedges that, when driven distally, pass through openings in the staple cartridge and engage drivers supporting the staples to effect the firing of the staples toward the anvil.
An example of a surgical stapler suitable for endoscopic applications is described in U.S. Patent Application No. US 2004/0232196 A1, the disclosure of which is herein incorporated by reference in its entirety. In use, a clinician is able to close the jaw members of the stapler upon tissue to position the tissue prior to firing. Once the clinician has determined that the jaw members are properly gripping tissue, the clinician can then fire the surgical stapler, thereby severing and stapling the tissue. The simultaneous severing and stapling avoids complications that may arise when performing such actions sequentially with different surgical tools that respectively only sever or staple.
Whenever a transsection of tissue is across an area of varied tissue composition, it would be advantageous for the staples that are closest to the cut line to have one formed height that is less than the formed height of those staples that are farthest from the cut line. In practice, the rows of inside staples serve to provide a hemostatic barrier, while the outside rows of staples with larger formed heights provide a cinching effect where the tissue transitions from the tightly compressed hemostatic section to the non-compressed adjacent section. In other applications, it may be useful for the staples in a single line of staples to have differing formed heights. U.S. Pat. Nos. 4,941,623 and 5,027,834 to Pruitt disclose surgical stapler and cartridge arrangements that employ staples that have different prong lengths to ultimately achieve lines of staples that have differing formed heights. Likewise, WO 2003/094747A1 discloses a surgical stapler and cartridge that has six rows of staples wherein the outer two rows of staples comprise staples that are larger than the staples employed in the inner two rows and middle rows of staples. Thus, all of these approaches require the use of different sizes of staples in the same cartridge.
BRIEF SUMMARY OF THE INVENTION
In one general aspect, the present invention is directed to surgical stapling devices that are capable of producing staples of different formed lengths. For example, in such a device that also cuts the tissue being stapled, the inside rows of staples closest to the longitudinal incision line could have a formed height that is less than the formed height of the outer rows of staples. That way, the inside rows of staples may provide a hemostatic barrier, while the outside rows of staples with larger formed heights may provide a cinching effect where the tissue transitions from the tightly compressed hemostatic section to the non-compressed adjacent section.
According to various implementations, the staple cartridge may have staple drivers of different heights to product staples having different formed lengths. The staples driven by the shorter staple drivers would have longer formed lengths (assuming no other differences that would affect the formed heights of the staples). Also, the staple forming pockets in the anvil may have different depths. Staples formed in deeper pockets would tend to be longer than staples formed in shallow pockets. In addition, some of the staple forming pockets may be formed in compliant material portions of the anvil. Staples formed in such pockets would tend to be longer than staples formed in a non-compliant (or less compliant) portion of the anvil. Additionally, the channel may have internal steps that would produce staples having different formed heights. Staples formed with staple drivers starting at a lower step would have a longer formed length that stapled formed with staple drivers starting at a higher step. Also, staples with different wire diameters may be used. Thicker staples would tend to produce staples with longer formed lengths. In that connection, embodiments of the present invention are directed to staple pushers that can accommodate staples of varying wire thicknesses. Also, staples of differing materials could be used. Staples made of stronger, less compliant materials, would tend to produce longer formed staples.
According to other embodiments, the surgical stapling device may comprise a plurality of stacked wedge band sets. Each stacked wedge band set may comprise a number of wedge bands stacked one on another. The wedge bands may be actuated in succession in order to drive the staples in successive stages. That is, for example, in an embodiment having three wedge bands in a stack, the first wedge band may be actuated first to partially deploy the staples, the second wedge band in stack may be actuated next to begin to form the staples, and the third wedge band in the stack may be actuated last to finish the formation of the staples. To produce staples having different formed heights, the heights of the stacks (corresponding to the cumulative height of the wedge bands in the stacks) may be different, for example.
The techniques used to create formed staples of different heights could be used in a variety of different surgical stapling devices. For example, the stapling devices could be devices that cut the clamped tissue or devices that include no cutting instrument. The surgical staplers may be, for example, endocutters, open linear stapler devices, or circular staplers.
In accordance with other general aspects of various embodiments of the present invention, there is provided a staple cartridge for use with a stapling device that has a robotically controlled actuator that is selectively actuatable in an axial direction and an anvil portion that is selectively movable between open and closed positions. In various embodiments, the staple cartridge comprises a cartridge body that is supportable within the stapling device for selective confronting relationship with the anvil portion thereof when in a closed position. The cartridge body is configured to axially receive a dynamic actuation member therein that is responsive to control motions applied thereto by the robotically controlled actuator. At least one first staple driver is movably supported within the cartridge body for contact by the dynamic actuation member such that, as the dynamic actuation member is axially advanced through the cartridge body when a first control motion is applied thereto by the robotically controlled actuator, the first staple drivers are driven in a direction toward the anvil when the anvil is in the closed position. Each first staple driver defines a first staple support cradle for supporting a staple thereon. The first staple support cradle is located a first staple forming distance from a corresponding portion of the closed anvil. At least one second staple driver is movably supported within the cartridge body for contact by the dynamic actuation member such that as the dynamic actuation member is axially advanced through the cartridge body, the second staple drivers are driven in the direction toward the closed anvil. Each of the second staple drivers define a second staple support cradle for supporting another staple thereon. The second staple support cradle is located a second staple forming distance from another portion of the closed anvil wherein the second staple forming distance differs from the first staple forming distance.
In accordance with other general aspects of various embodiments of the present invention, there is provided a surgical stapling device that includes a robotic system that is operable to produce a firing motion and a closing motion. The device further includes an implement portion that is responsive to the firing and closing motions from the robotic system. In various forms, the implement portion includes an elongate channel that is operably coupled to a portion of the robotic system and is configured to support a staple cartridge therein. An anvil is movably coupled to the elongate channel and has an anvil channel therein. The anvil is movable from an open position to a closed position upon application of the closing motion thereto from the robotic system. Various embodiments further include a firing device that includes a distally presented cutting edge that is longitudinally movable within the elongate channel and the anvil from a starting position to an ending position upon application of the firing motion thereto from the robotic system. The firing device has an upper portion for engaging the anvil channel and a lower portion for engaging the elongate channel during distal movement for firing. Various forms of the staple cartridge comprise a cartridge body that is sized to be supported within the elongate channel. The cartridge body has a longitudinally extending slot therein for receiving the firing device therein. The cartridge body has a non-planar deck surface that is configured to confront a staple forming portion of the anvil that has staple forming pockets therein when the anvil is in the closed position. A first plurality of inside staple drivers is axially aligned in a first row of inside staple drivers in a portion of the cartridge body that is adjacent a first side of the longitudinally extending slot. A second plurality of inside staple drivers is axially aligned in a second row of inside staple drivers in another portion of the cartridge body that is adjacent a second side of the longitudinally extending slot. The inside staple drivers are movably supported within the cartridge body for selective movement toward the anvil when the anvil is in a closed position. Each inside staple driver defines a first staple support cradle for supporting a staple thereon. Each first staple support cradle is located a first staple forming distance from a corresponding portion of the anvil when the anvil is in a closed position. A first plurality of outside staple drivers is axially aligned in a first row of outside staple drivers that are adjacent to the first row of the inside staple drivers. A second plurality of outside staple drivers is axially aligned in a second row of outside staple drivers and is adjacent to the second row of inside staple drivers. Each of the outside staple drivers is movably supported within the cartridge body for selective driving movement toward the anvil when the anvil is in the closed position. Each of the outside staple drivers define a second staple support cradle for supporting another staple thereon. Each second staple support cradle is located a second staple forming distance from another corresponding portion of the anvil when the anvil is in the closed position. The second staple forming distance differs in magnitude from the first staple forming distance. A wedge sled is supported within the cartridge body for driving contact by the firing device and actuating contact with the first and second pluralities of the inside staple drivers as well as the first and second pluralities of outside staple drivers such that, as the firing device moves within the elongated slot in the cartridge body in a first axial direction in response to the firing motion from the robotic system, the wedge sled drives each of the inside and outside drivers towards the anvil to bring the staples supported thereon into forming contact with the anvil when the anvil is in the closed position.
BRIEF DESCRIPTION OF THE FIGURES
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate by way of example embodiments of the invention, and, together with the general description of the invention given above, and the detailed description of the embodiments given below, serve to explain the principles of the present invention, wherein:
FIG. 1 depicts a partially cut away side elevation view of a surgical stapling and severing instrument in an open position according to various embodiments of the present invention;
FIG. 2 depicts a cross-sectional side elevation detail view along the line 2-2 of FIG. 1 of an end effector of the surgical stapling and severing instrument according to various embodiments of the present invention;
FIG. 3 depicts an enlarged side elevation view of the firing bar of the surgical stapling and severing instrument of FIG. 2 according to various embodiments of the present invention;
FIG. 4 depicts an enlarged front view of the firing bar of the surgical stapling and severing instrument of FIG. 2 according to various embodiments of the present invention;
FIG. 5 depicts a cross-sectional side elevation detail view of an alternative end effector for the surgical stapling and severing instrument of FIG. 1, incorporating a firing bar that lacks a middle pin for preventing pinching of the end effector, according to various embodiments of the present invention;
FIG. 6 depicts a side elevational view of a handle portion of a proximal end of the surgical stapling and severing instrument of FIG. 1 with a left side removed to expose interior parts in an unclamped, unfired (“start”) position according to various embodiments of the present invention;
FIG. 7 depicts a perspective, exploded view of the handle portion of the proximal end of the surgical stapling and severing instrument of FIG. 1 according to various embodiments of the present invention;
FIG. 8 depicts a side elevational view of the handle portion of the proximal end of the surgical stapling and severing instrument of FIG. 1 with the left side removed to expose interior parts in the closed (“clamped”) position according to various embodiments of the present invention;
FIG. 9 depicts a side elevational view of the handle portion of proximal end of surgical stapling and severing instrument of FIG. 1 with the left side removed to expose interior parts in the stapled and severed (“fired”) position according to various embodiments of the present invention;
FIG. 10 depicts a plan view of a staple cartridge installed in an end effector according to various embodiments of the present invention;
FIG. 11 is an enlarged plan view of a portion of a staple cartridge according to various embodiments of the present invention;
FIG. 12 is a side view of a staple that may be employed with various embodiments of the present invention;
FIG. 13 is a front elevational view of one inside double driver supporting two staples thereon according to various embodiments of the present invention;
FIG. 14 is a top view of the inside double driver and staples of FIG. 13 according to various embodiments of the present invention;
FIG. 14A is an elevational view of the inside double driver of FIG. 13 within a portion of a staple cartridge mounted in the end effector and also illustrating a corresponding portion of the anvil when in a closed position according to various embodiments of the present invention;
FIG. 15 is a right side elevational view of the inside double driver and staples of FIGS. 13 and 14 according to various embodiments of the present invention;
FIG. 15A is another side elevational view of the inside double driver of FIG. 15 wherein corresponding portions of the cartridge tray and anvil are illustrated in broken lines to depict the relationships therebetween according to various embodiments of the present invention;
FIG. 16 is a front elevational view of one outside single driver supporting a staple thereon according to various embodiments of the present invention;
FIG. 16A is another front view of the outside single driver of FIG. 16 with portions of the cartridge tray and anvil shown to illustrate the relationships therebetween according to various embodiments of the present invention;
FIG. 17 is a top view of the outside single driver and staple of FIG. 16 according to various embodiments of the present invention;
FIG. 18 is an isometric exploded view of the implement portion of the surgical stapling and severing instrument of FIG. 1 according to various embodiments of the present invention;
FIG. 19 is a section view taken along line 19-19 of FIG. 10 showing the cross-sectional relationship between the firing bar, elongate channel, wedge sled, staple drivers, staples and staple cartridge according to various embodiments of the present invention;
FIG. 19A is another cross-sectional view of an end effector showing the cross-sectional relationship between the firing bar, elongate channel, wedge sled, staple drivers, staples, staple cartridge and anvil according to various embodiments of the present invention;
FIG. 20 is a perspective view of one wedge sled according to various embodiments of the present invention;
FIG. 21 is a side elevational view of an inside sled cam of the wedge sled depicted in FIG. 20 according to various embodiments of the present invention;
FIG. 22 is a side elevational view of an outside sled cam of the wedge sled depicted in FIG. 20 according to various embodiments of the present invention;
FIG. 23 is an isometric view of the end effector at the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position with the cartridge largely removed exposing a single staple driver and a double staple driver as exemplary and the wedge sled in its start position against a middle pin of the firing bar according to various embodiments of the present invention;
FIG. 24 is an isometric view of the end effector at the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position exposing the staple cartridge and cutting edge of the firing bar according to various embodiments of the present invention;
FIG. 25 is an isometric view of the distal end of the surgical stapling and severing instrument of FIG. 1 with the anvil in the up or open position with the staple cartridge completely removed and a portion of an elongate channel removed to expose a lowermost pin of the firing bar according to various embodiments of the present invention;
FIG. 26 is a side elevation view in section showing a mechanical relationship between the anvil, elongate channel, and staple cartridge in the closed position of the surgical stapling and severing instrument of FIG. 1, the section generally taken along lines 26-26 of FIG. 24 to expose wedge sled, staple drivers and staples but also depicting the firing bar along the longitudinal centerline according to various embodiments of the present invention;
FIG. 27 is a cross-sectional view of a portion of a staple cartridge wherein an outside cam of a wedge is adjacent to an outside single driver according to various embodiments of the present invention;
FIG. 28 is a cross-sectional view of a portion of a staple cartridge wherein an outside cam of a wedge sled is engaging three outside single drivers according to various embodiments of the present invention;
FIG. 29 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention;
FIG. 30 depicts a staple formed by one inside driver according to various embodiments of the present invention;
FIG. 31 depicts another staple formed by one outside driver according to various embodiments of the present invention;
FIG. 32 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention;
FIG. 33 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention;
FIG. 34 is a diagrammatic representation of lines of staples installed on each side of a cut line using a surgical stapling and severing instrument according to various embodiments of the present invention;
FIG. 35 is a side elevation section view of the surgical stapling and severing instrument of FIG. 1 taken along the longitudinal centerline of the end effector in a partially closed but unclamped position gripping tissue according to various embodiments of the present invention;
FIG. 36 depicts a partially cut away side elevational view of the surgical stapling and severing instrument of FIG. 1 in the closed or clamped position according to various embodiments of the present invention;
FIG. 37 depicts a side elevation view of the surgical stapling and severing instrument of FIG. 1 in the closed or clamped position with tissue properly compressed according to various embodiments of the present invention;
FIG. 38 depicts a view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 1 in a partially fired position according to various embodiments of the present invention;
FIG. 39 depicts a partially cut away side elevation view of the surgical stapling and severing instrument of FIG. 1 in a partially fired position according to various embodiments of the present invention;
FIG. 40 depicts a view in centerline section of the distal end of the surgical stapling and severing instrument of FIG. 1 in a fully fired position according to various embodiments of the present invention;
FIG. 41 is a partially cut-away side elevational view of the surgical stapling and severing instrument of FIG. 1 in a full fired position according to various embodiments of the present invention;
FIGS. 42-44 depict aspects of an end effector having a sled with multiple sled cams where one sled cam is taller than another according to various embodiments of the present invention;
FIG. 45 depicts aspects of an end effector with staple forming pockets having varying depths according to various embodiments of the present invention;
FIGS. 46-47 depict a double staple driver having staples of different pre-formation lengths according to various embodiments of the present invention;
FIG. 48 depicts a side-view of an end effector having a double staple driver having different staple driver heights according to various embodiments of the present invention;
FIGS. 49-50 depict a side-view of an end effector having staple forming pockets of varying depths according to various embodiments of the present invention;
FIGS. 51-62 depict aspects of a surgical stapling device having stacks of actuatable wedge bands according to various embodiments of the present invention;
FIGS. 63-69 depict aspects of an open linear surgical stapling device according to various embodiments of the present invention;
FIGS. 70-77 depicts cross-sectional front views of an end effector according to various embodiments of the present invention;
FIGS. 78-83 depict staple drivers that can accommodate staple having different wire diameters according to various embodiments of the present invention;
FIGS. 84-89 depict a circular surgical stapling device according to various embodiments of the present invention;
FIGS. 90-95 depict another surgical stapling device according to embodiments of the present invention;
FIG. 96 is a perspective view of one robotic controller embodiment;
FIG. 97 is a perspective view of one robotic surgical arm cart/manipulator of a robotic system operably supporting a plurality of surgical tool embodiments of the present invention;
FIG. 98 is a side view of the robotic surgical arm cart/manipulator depicted in FIG. 97;
FIG. 99 is a perspective view of an exemplary cart structure with positioning linkages for operably supporting robotic manipulators that may be used with various surgical tool embodiments of the present invention;
FIG. 100 is a perspective view of a surgical tool embodiment of the present invention;
FIG. 101 is an exploded assembly view of an adapter and tool holder arrangement for attaching various surgical tool embodiments to a robotic system;
FIG. 102 is a side view of the adapter shown in FIG. 101;
FIG. 103 is a bottom view of the adapter shown in FIG. 101;
FIG. 104 is a top view of the adapter of FIGS. 101 and 102;
FIG. 105 is a partial bottom perspective view of the surgical tool embodiment of FIG. 100;
FIG. 106 is a partial exploded view of a portion of an articulatable surgical end effector embodiment of the present invention;
FIG. 107 is a perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
FIG. 108 is a rear perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
FIG. 109 is a front perspective view of the surgical tool embodiment of FIG. 105 with the tool mounting housing removed;
FIG. 110 is a partial exploded perspective view of the surgical tool embodiment of FIG. 105;
FIG. 111 is a partial cross-sectional side view of the surgical tool embodiment of FIG. 105;
FIG. 112 is an enlarged cross-sectional view of a portion of the surgical tool depicted in FIG. 111;
FIG. 113 is an exploded perspective view of a portion of the tool mounting portion of the surgical tool embodiment depicted in FIG. 105;
FIG. 114 is an enlarged exploded perspective view of a portion of the tool mounting portion of FIG. 113;
FIG. 115 is a partial cross-sectional view of a portion of the elongated shaft assembly of the surgical tool of FIG. 105;
FIG. 116 is a side view of a half portion of a closure nut embodiment of a surgical tool embodiment of the present invention;
FIG. 117 is a perspective view of another surgical tool embodiment of the present invention;
FIG. 118 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 117 with the anvil in the open position and the closure clutch assembly in a neutral position;
FIG. 119 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 118 with the clutch assembly engaged in a closure position;
FIG. 120 is another cross-sectional side view of the surgical end effector and elongated shaft assembly shown in FIG. 118 with the clutch assembly engaged in a firing position;
FIG. 121 is a top view of a portion of a tool mounting portion embodiment of the present invention;
FIG. 122 is a perspective view of another surgical tool embodiment of the present invention;
FIG. 123 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 122 with the anvil in the open position;
FIG. 124 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 122 with the anvil in the closed position;
FIG. 125 is a perspective view of a closure drive nut and portion of a knife bar embodiment of the present invention;
FIG. 126 is a top view of another tool mounting portion embodiment of the present invention;
FIG. 127 is a perspective view of another surgical tool embodiment of the present invention;
FIG. 128 is a cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 127 with the anvil in the open position;
FIG. 129 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 128 with the anvil in the closed position;
FIG. 130 is a cross-sectional view of a mounting collar embodiment of a surgical tool embodiment of the present invention showing the knife bar and distal end portion of the closure drive shaft;
FIG. 131 is a cross-sectional view of the mounting collar embodiment of FIG. 130;
FIG. 132 is a top view of another tool mounting portion embodiment of another surgical tool embodiment of the present invention;
FIG. 132A is an exploded perspective view of a portion of a gear arrangement of another surgical tool embodiment of the present invention;
FIG. 132B is a cross-sectional perspective view of the gear arrangement shown in FIG. 132A;
FIG. 133 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention employing a pressure sensor arrangement with the anvil in the open position;
FIG. 134 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 133 with the anvil in the closed position;
FIG. 135 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;
FIG. 136 is a side view of a portion of another surgical tool embodiment of the present invention in relation to a tool holder portion of a robotic system with some of the components thereof shown in cross-section;
FIG. 137 is a side view of a portion of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section;
FIG. 138 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
FIG. 139 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
FIG. 140 is a side view of a portion of another surgical end effector embodiment of a portion of a surgical tool embodiment of the present invention with some components thereof shown in cross-section;
FIG. 141 is an enlarged cross-sectional view of a portion of the end effector of FIG. 140;
FIG. 142 is another cross-sectional view of a portion of the end effector of FIGS. 140 and 141;
FIG. 143 is a cross-sectional side view of a portion of a surgical end effector and elongated shaft assembly of another surgical tool embodiment of the present invention with the anvil in the open position;
FIG. 144 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIG. 143;
FIG. 145 is another cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of FIGS. 143 and 144 with the anvil thereof in the closed position;
FIG. 146 is an enlarged cross-sectional side view of a portion of the surgical end effector and elongated shaft assembly of the surgical tool embodiment of FIGS. 143-145;
FIG. 147 is a top view of a tool mounting portion embodiment of a surgical tool embodiment of the present invention;
FIG. 148 is a perspective assembly view of another surgical tool embodiment of the present invention;
FIG. 149 is a front perspective view of a disposable loading unit arrangement that may be employed with various surgical tool embodiments of the present invention;
FIG. 150 is a rear perspective view of the disposable loading unit of FIG. 149;
FIG. 151 is a bottom perspective view of the disposable loading unit of FIGS. 149 and 150;
FIG. 152 is a bottom perspective view of another disposable loading unit embodiment that may be employed with various surgical tool embodiments of the present invention;
FIG. 153 is an exploded perspective view of a mounting portion of a disposable loading unit depicted in FIGS. 149-151;
FIG. 154 is a perspective view of a portion of a disposable loading unit and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention with the disposable loading unit in a first position;
FIG. 155 is another perspective view of a portion of the disposable loading unit and elongated shaft assembly of FIG. 154 with the disposable loading unit in a second position;
FIG. 156 is a cross-sectional view of a portion of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 154 and 154;
FIG. 157 is another cross-sectional view of the disposable loading unit and elongated shaft assembly embodiment depicted in FIGS. 154-156;
FIG. 158 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention;
FIG. 159 is a partial exploded perspective view of a portion of another disposable loading unit embodiment and an elongated shaft assembly embodiment of a surgical tool embodiment of the present invention;
FIG. 160 is another partial exploded perspective view of the disposable loading unit embodiment and an elongated shaft assembly embodiment of FIG. 159;
FIG. 161 is a top view of another tool mounting portion embodiment of a surgical tool embodiment of the present invention;
FIG. 162 is a side view of another surgical tool embodiment of the present invention with some of the components thereof shown in cross-section and in relation to a robotic tool holder of a robotic system;
FIG. 163 is an exploded assembly view of a surgical end effector embodiment that may be used in connection with various surgical tool embodiments of the present invention;
FIG. 164 is a side view of a portion of a cable-driven system for driving a cutting instrument employed in various surgical end effector embodiments of the present invention;
FIG. 165 is a top view of the cable-driven system and cutting instrument of FIG. 164;
FIG. 166 is a top view of a cable drive transmission embodiment of the present invention in a closure position;
FIG. 167 is another top view of the cable drive transmission embodiment of FIG. 166 in a neutral position;
FIG. 168 is another top view of the cable drive transmission embodiment of FIGS. 166 and 167 in a firing position;
FIG. 169 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 166;
FIG. 170 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 167;
FIG. 171 is a perspective view of the cable drive transmission embodiment in the position depicted in FIG. 168;
FIG. 172 is a perspective view of another surgical tool embodiment of the present invention;
FIG. 173 is a side view of a portion of another cable-driven system embodiment for driving a cutting instrument employed in various surgical end effector embodiments of the present invention;
FIG. 174 is a top view of the cable-driven system embodiment of FIG. 173;
FIG. 175 is a top view of a tool mounting portion embodiment of another surgical tool embodiment of the present invention;
FIG. 176 is a top cross-sectional view of another surgical tool embodiment of the present invention;
FIG. 177 is a cross-sectional view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention;
FIG. 178 is a cross-sectional end view of the surgical end effector of FIG. 177 taken along line 178-178 in FIG. 177;
FIG. 179 is a perspective view of the surgical end effector of FIGS. 177 and 178 with portions thereof shown in cross-section;
FIG. 180 is a side view of a portion of the surgical end effector of FIGS. 177-179;
FIG. 181 is a perspective view of a sled assembly embodiment of various surgical tool embodiments of the present invention;
FIG. 182 is a cross-sectional view of the sled assembly embodiment of FIG. 181 and a portion of the elongated channel of FIG. 180;
FIGS. 183-188 diagrammatically depict the sequential firing of staples in a surgical tool embodiment of the present invention;
FIG. 189 is a partial perspective view of a portion of a surgical end effector embodiment of the present invention;
FIG. 190 is a partial cross-sectional perspective view of a portion of a surgical end effector embodiment of a surgical tool embodiment of the present invention;
FIG. 191 is another partial cross-sectional perspective view of the surgical end effector embodiment of FIG. 190 with a sled assembly axially advancing therethrough;
FIG. 192 is a perspective view of another sled assembly embodiment of another surgical tool embodiment of the present invention;
FIG. 193 is a partial top view of a portion of the surgical end effector embodiment depicted in FIGS. 190 and 191 with the sled assembly axially advancing therethrough;
FIG. 194 is another partial top view of the surgical end effector embodiment of FIG. 193 with the top surface of the surgical staple cartridge omitted for clarity;
FIG. 195 is a partial cross-sectional side view of a rotary driver embodiment and staple pusher embodiment of the surgical end effector depicted in FIGS. 190 and 191;
FIG. 196 is a perspective view of an automated reloading system embodiment of the present invention with a surgical end effector in extractive engagement with the extraction system thereof;
FIG. 197 is another perspective view of the automated reloading system embodiment depicted in FIG. 196;
FIG. 198 is a cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196 and 197;
FIG. 199 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196-198 with the extraction system thereof removing a spent surgical staple cartridge from the surgical end effector;
FIG. 200 is another cross-sectional elevational view of the automated reloading system embodiment depicted in FIGS. 196-199 illustrating the loading of a new surgical staple cartridge into a surgical end effector;
FIG. 201 is a perspective view of another automated reloading system embodiment of the present invention with some components shown in cross-section;
FIG. 202 is an exploded perspective view of a portion of the automated reloading system embodiment of FIG. 201;
FIG. 203 is another exploded perspective view of the portion of the automated reloading system embodiment depicted in FIG. 202;
FIG. 204 is a cross-sectional elevational view of the automated reloading system embodiment of FIGS. 201-203;
FIG. 205 is a cross-sectional view of an orientation tube embodiment supporting a disposable loading unit therein;
FIG. 206 is a perspective view of another surgical tool embodiment of the present invention;
FIG. 207 is a partial perspective view of an articulation joint embodiment of a surgical tool embodiment of the present invention;
FIG. 208 is a perspective view of a closure tube embodiment of a surgical tool embodiment of the present invention;
FIG. 209 is a perspective view of the closure tube embodiment of FIG. 208 assembled on the articulation joint embodiment of FIG. 207;
FIG. 210 is a top view of a portion of a tool mounting portion embodiment of a surgical tool embodiment of the present invention;
FIG. 211 is a perspective view of an articulation drive assembly embodiment employed in the tool mounting portion embodiment of FIG. 210;
FIG. 212 is a perspective view of another surgical tool embodiment of the present invention; and
FIG. 213 is a perspective view of another surgical tool embodiment of the present invention.
DETAILED DESCRIPTION
Applicant of the present application also owns the following patent applications that were filed on May 27, 2011 and which are each herein incorporated by reference in their respective entireties:
    • U.S. patent application Ser. No. 13/118, 259, entitled “Surgical Instrument With Wireless Communication Between a Control Unit of a Robotic System and Remote Sensor”;
    • U.S. patent application Ser. No. 13/118,210, entitled “Robotically-Controlled Disposable Motor Driven Loading Unit”;
    • U.S. patent application Ser. No. 13/118,194, entitled “Robotically-Controlled Endoscopic Accessory Channel”;
    • U.S. patent application Ser. No. 13/118,253, entitled “Robotically-Controlled Motorized Surgical Instrument”;
    • U.S. patent application Ser. No. 13/118,190, entitled “Robotically-Controlled Motorized Cutting and Fastening Instrument”;
    • U.S. patent application Ser. No. 13/118,223, entitled “Robotically-Controlled Shaft Based Rotary Drive Systems For Surgical Instruments”;
    • U.S. patent application Ser. No. 13/118,263, entitled “Robotically-Controlled Surgical Instrument Having Recording Capabilities”;
    • U.S. patent application Ser. No. 13/118,272, entitled “Robotically-Controlled Surgical Instrument With Force Feedback Capabilities”;
    • U.S. patent application Ser. No. 13/118,246, entitled “Robotically-Driven Surgical Instrument With E-Beam Driver”;
    • U.S. patent application Ser. No. 13/118,241, entitled “Surgical Stapling Instruments With Rotatable Staple Deployment Arrangements”.
Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. Those of ordinary skill in the art will understand that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the various embodiments of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.
Uses of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment”, or “in an embodiment”, or the like, throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner in one or more other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.
Turning to the figures, wherein like numerals denote like components throughout the several views, FIGS. 1 and 2 depict one embodiment of a surgical stapling and severing instrument 10 that is capable of practicing the unique benefits of the present invention. It should be recognized, however, that the unique and novel aspects of the present invention may be advantageously employed in connection with a variety of other staplers and stapler instruments without departing from the spirit and scope of the present invention. Accordingly, the scope of protection afforded to the various embodiments of the present invention should not be limited to use only with the specific type of surgical stapling and severing instruments described herein.
As can be seen in FIGS. 1 and 2, the surgical stapling and severing instrument 10 incorporates an end effector 12 having an actuator or E-beam firing mechanism (“firing bar”) 14 that advantageously controls the spacing of the end effector 12. In particular, an elongate channel 16 and a pivotally translatable anvil 18 are maintained at a spacing that assures effective stapling and severing. The problems are avoided associated with varying amounts of tissue being captured in the end effector 12.
It will be appreciated that the terms “proximal” and “distal” are used herein with reference to a clinician gripping a handle of an instrument. Thus, the end effector 12 is distal with respect to the more proximal handle portion 20. It will be further appreciated that for convenience and clarity, spatial terms such as “vertical” and “horizontal” are used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and absolute.
The surgical and stapling and severing instrument 10 includes a handle portion 20 that is connected to an implement portion 22, the latter further comprising a shaft 23 distally terminating in the end effector 12. The handle portion 20 includes a pistol grip 24 toward which a closure trigger 26 is pivotally drawn by the clinician to cause clamping, or closing, of the anvil 18 toward the elongate channel 16 of the end effector 12. A firing trigger 28 is farther outboard of the closure trigger 26 and is pivotally drawn by the clinician to cause the stapling and severing of clamped tissue in the end effector 12.
In practice, closure trigger 26 is actuated first. Once the clinician is satisfied with the positioning of the end effector 12, the clinician may draw back the closure trigger 26 to its fully closed, locked position proximate to the pistol grip 24. Then, the firing trigger 28 is actuated. The firing trigger 28 springedly returns when the clinician removes pressure. A release button 30 when depressed on the proximal end of the handle portion 20 releases any locked closure trigger 26.
A closure sleeve 32 encloses a frame 34, which in turn encloses a firing drive member 36 that is positioned by the firing trigger 28. The frame 34 connects the handle portion 20 to the end effector 12. With the closure sleeve 32 withdrawn proximally by the closure trigger 26 as depicted, the anvil 18 springedly opens, pivoting away from the elongate channel 16 and translating proximally with the closure sleeve 32. The elongate channel 16 receives a staple cartridge 37.
With particular reference to FIGS. 2-4, the firing bar 14 includes three vertically spaced pins that control the spacing of the end effector 12 during firing. In particular, an upper pin 38 is staged to enter an anvil pocket 40 near the pivot between the anvil 18 and elongate channel 16. When fired with the anvil 18 closed, the upper pin 38 advances distally within a longitudinal anvil slot 42 extending distally through anvil 18. Any minor upward deflection in the anvil 18 is overcome by a downward force imparted by the upper pin 38. Firing bar 14 also includes a lowermost pin, or firing bar cap, 44 that upwardly engages a channel slot 45 in the elongate channel 16, thereby cooperating with the upper pin 38 to draw the anvil 18 and the elongate channel 16 slightly closer together in the event of excess tissue clamped therebetween. The firing bar 14 advantageously includes a middle pin 46 that passes through a firing drive slot 47 formed in a lower surface of the cartridge 300 and an upward surface of the elongate channel 16, thereby driving the staples therein as described below. The middle pin 46, by sliding against the elongate channel 16, advantageously resists any tendency for the end effector 12 to be pinched shut at its distal end. To illustrate an advantage of the middle pin 46, FIG. 5 depicts an alternative end effector 12′ that lacks a middle pin on a firing bar 14′. In this depiction, the end effector 12′ is allowed to pinch shut at its distal end, which tends to impair desired staple formation.
Returning to FIGS. 2-4, a distally presented cutting edge 48 between the upper and middle pins 38, 46 on the firing bar 14 traverses through a proximally presented, vertical slot 49 in the cartridge 37 to sever clamped tissue. The affirmative positioning of the firing bar 14 with regard to the elongate channel 16 and anvil 18 assure that an effective cut is performed. The affirmative vertical spacing provided by the E-Beam firing bar 14 is suitable for the limited size available for endoscopic devices. Moreover, the E-Beam firing bar 14 enables fabrication of an anvil 15 with a camber imparting a vertical deflection at its distal end, similar to the position depicted in FIG. 5. This cambered anvil 15 advantageously assists in achieving the desired gap in the end effector 12 even with an anvil 15 having a reduced thickness, which may be more suited to the size limitations of an endoscopic device.
With reference to FIGS. 6-9, the handle portion 20 is comprised of first and second base sections 50 and 52, which are molded from a polymeric material such as a glass-filled polycarbonate. The first base section 50 is provided with a plurality of cylindrically-shaped pins 54. The second base section 52 includes a plurality of extending members 56, each having a hexagonal-shaped opening 58. The cylindrically-shaped pins 54 are received within the hexagonal-shaped openings 58 and are frictionally held therein for maintaining the first and second base sections 50 and 52 in assembly.
A rotating knob 60 has a bore 62 extending completely through it for engaging and rotating the implement portion 22 about its longitudinal axis. The rotating knob 60 includes an inwardly protruding boss 64 extending along at least a portion of the bore 62. The protruding boss 64 is received within a longitudinal slot 66 formed at a proximal portion of the closure sleeve 32 such that rotation of the rotating knob 60 effects rotation of the closure sleeve 32. It will be appreciated that the boss 64 further extends through frame 34 and into contact with a portion of the firing drive member 36 to effect their rotation as well. Thus, the end effector 12 (not shown in FIGS. 6-9) rotates with the rotating knob 60.
A proximal end 68 of the frame 34 passes proximally through the rotating knob 60 and is provided with a circumferential notch 70 that is engaged by opposing channel securement members 72 extending respectively from the base sections 50 and 52. Only the channel securement member 72 of the second base section 52 is shown. The channel securement members 72, extending from the base sections 50, 52 serve to secure the frame 34 to the handle portion 20 such that the frame 34 does not move longitudinally relative to the handle portion 20.
The closure trigger 26 has a handle section 74, a gear segment section 76, and an intermediate section 78. A bore 80 extends through the intermediate section 78. A cylindrical support member 82 extending from the second base section 52 passes through the bore 80 for pivotably mounting the closure trigger 26 on the handle portion 20. A second cylindrical support member 83 extending from the second base section 52 passes through a bore 81 of firing trigger 28 for pivotally mounting on the handle portion 20. A hexagonal opening 84 is provided in the cylindrical support member 83 for receiving a securement pin (not shown) extending from the first base section 50.
A closure yoke 86 is housed within the handle portion 20 for reciprocating movement therein and serves to transfer motion from the closure trigger 26 to the closure sleeve 32. Support members 88 extending from the second base section 52 and securement member 72, which extends through a recess 89 in the yoke 86, support the yoke 86 within the handle portion 20.
A proximal end 90 of the closure sleeve 32 is provided with a flange 92 that is snap-fitted into a receiving recess 94 formed in a distal end 96 of the yoke 86. A proximal end 98 of the yoke 86 has a gear rack 100 that is engaged by the gear segment section 76 of the closure trigger 26. When the closure trigger 26 is moved toward the pistol grip 24 of the handle portion 20, the yoke 86 and, hence, the closure sleeve 32 move distally, compressing a spring 102 that biases the yoke 86 proximally. Distal movement of the closure sleeve 32 effects pivotal translation movement of the anvil 18 distally and toward the elongate channel 16 of the end effector 12 and proximal movement effects closing, as discussed below.
The closure trigger 26 is forward biased to an open position by a front surface 130 interacting with an engaging surface 128 of the firing trigger 28. Clamp first hook 104 that pivots top to rear in the handle portion 20 about a pin 106 restrains movement of the firing trigger 28 toward the pistol grip 24 until the closure trigger 26 is clamped to its closed position. Hook 104 restrains firing trigger 28 motion by engaging a lockout pin 107 in firing trigger 28. The hook 104 is also in contact with the closure trigger 26. In particular, a forward projection 108 of the hook 104 engages a member 110 on the intermediate section 78 of the closure trigger 26, the member 100 being outward of the bore 80 toward the handle section 74. Hook 104 is biased toward contact with member 110 of the closure trigger 26 and engagement with lockout pin 107 in firing trigger 28 by a release spring 112. As the closure trigger 26 is depressed, the hook 104 is moved top to rear, compressing the release spring 112 that is captured between a rearward projection 114 on the hook 104 and a forward projection 116 on the release button 30. As the yoke 86 moves distally in response to proximal movement of the closure trigger 26, an upper latch arm 118 of the release button 30 moves along an upper surface 120 on the yoke 86 until dropping into an upwardly presented recess 122 in a proximal, lower portion of the yoke 86. The release spring 112 urges the release button 30 outward, which pivots the upper latch arm 118 downwardly into engagement with the upwardly presented recess 122, thereby locking the closure trigger 26 in a tissue clamping position, such as depicted in FIG. 8.
The latch arm 118 can be moved out of the recess 122 to release the anvil 18 by pushing the release button 30 inward. Specifically, the upper latch arm 118 pivots upward about pin 123 of the second base section 52. The yoke 86 is then permitted to move proximally in response to return movement of the closure trigger 26.
A firing trigger return spring 124 is located within the handle portion 20 with one end attached to pin 106 of the second base section 52 and the other end attached to a pin 126 on the firing trigger 28. The firing return spring 124 applies a return force to the pin 126 for biasing the firing trigger 28 in a direction away from the pistol grip 24 of the handle portion 20. The closure trigger 26 is also biased away from pistol grip 24 by engaging surface 128 of firing trigger 28 biasing front surface 130 of closure trigger 26.
As the closure trigger 26 is moved toward the pistol grip 24, its front surface 130 engages with the engaging surface 128 on the firing trigger 28 causing the firing trigger 28 to move to its “firing” position. When in its firing position, the firing trigger 28 is located at an angle of approximately 45° to the pistol grip 24. After staple firing, the spring 124 causes the firing trigger 28 to return to its initial position. During the return movement of the firing trigger 28, its engaging surface 128 pushes against the front surface 130 of the closure trigger 26 causing the closure trigger 26 to return to its initial position. A stop member 132 extends from the second base section 52 to prevent the closure trigger 26 from rotating beyond its initial position.
The surgical stapling and severing instrument 10 additionally includes a reciprocating section 134, a multiplier 136 and a drive member 138. The reciprocating section 134 comprises a wedge sled in the implement portion 22 (not shown in FIGS. 6-9) and a metal drive rod 140. The drive member 138 includes first and second gear racks 141 and 142. A first notch 144 is provided on the drive member 138 intermediate the first and second gear racks 141, 142. During return movement of the firing trigger 28, a tooth 146 on the firing trigger 28 engages with the first notch 144 for returning the drive member 138 to its initial position after staple firing. A second notch 148 is located at a proximal end of the metal drive rod 140 for locking the metal drive rod 140 to the upper latch arm 118 of the release button 30 in its unfired position. The multiplier 136 comprises first and second integral pinion gears 150 and 152. The first integral pinion gear 150 is engaged with a first gear rack 154 provided on the metal drive rod 140. The second integral pinion gear 152 is engaged with the first gear rack 141 on the drive member 138. The first integral pinion gear 150 has a first diameter and the second integral pinion gear 152 has a second diameter which is smaller than the first diameter.
FIGS. 6, 8 and 9 depict respectively the handle portion 20 in the start position (open and unfired), a clamped position (closed and unfired) and a fired position. The firing trigger 28 is provided with a gear segment section 156. The gear segment section 156 engages with the second gear rack 142 on the drive member 138 such that motion of the firing trigger 28 causes the drive member 138 to move back and forth between a first drive position, shown in FIG. 8, and a second drive position, shown in FIG. 9. In order to prevent staple firing before tissue clamping has occurred, the upper latch arm 118 on the release button 39 is engaged with the second notch 148 on the drive member 138 such that the metal drive rod 140 is locked in its proximal-most position, as depicted in FIG. 6. When the upper latch arm 118 falls into the recess 122, the upper latch arm 118 disengages with the second notch 148 to permit distal movement of the metal drive rod 140, as depicted in FIG. 9.
Because the first gear rack 141 on the drive member 138 and the gear rack 154 on the metal drive rod 140 are engaged with the multiplier 136, movement of the firing trigger 28 causes the metal drive rod 140 to reciprocate between a first reciprocating position, shown in FIG. 8, and a second reciprocating position, shown in FIG. 9. Since the diameter of the first pinion gear 150 is greater than the diameter of the second pinion gear 152, the multiplier 136 moves the reciprocating section 134 a greater distance than the drive member 138 is moved by the firing trigger 28. The diameters of the first and second pinion gears 150 and 152 may be changed to permit the length of the stroke of the firing trigger 28 and the force required to move it to be varied. It will be appreciated that the handle portion 20 is illustrative and that other actuation mechanisms may be employed. For instance, the closing and firing motions may be generated by automated means.
One embodiment of an end effector 12 of the surgical stapling and severing instrument 10 is depicted in further detail in FIGS. 18, 19, and 23-26. As described above, the handle portion 20 produces separate and distinct closing and firing motions that actuate the end effector 12. The end effector 12 advantageously maintains the clinical flexibility of this separate and distinct closing and firing (i.e., stapling and severing). In addition, the end effector 12 introduces the aforementioned ability to affirmatively maintain the closed spacing during firing after the clinician positions and clamps the tissue. Both features procedurally and structurally enhance the ability of the surgical stapling and severing instrument 10 by ensuring adequate spacing for instances where an otherwise inadequate amount of tissue is clamped and to enhance the clamping in instances where an otherwise excessive amount of tissue has been clamped.
FIG. 10 depicts a staple cartridge embodiment 300 of the present invention installed in the end effector 12 with the firing bar 14 in its unfired, proximal position. The staple cartridge 300 has a cartridge body 302 that is divided by an elongated slot 310 that extends from a proximal end 304 of the cartridge 300 towards a tapered outer tip 306. A plurality of staple-receiving channels 320 a-320 f are formed within the staple cartridge body 302 and are arranged in six laterally spaced longitudinal rows 500, 502, 504, 506, 508, 510, with three rows on each side of the elongated slot 310. Positioned within the staple-receiving channels 320 a-320 f are the staples 222. See FIGS. 10 and 11.
The cartridge 300 further includes four laterally spaced longitudinal rows of staple drivers 330 a, 330 b, 370 a, and 370 b as shown in FIG. 11. The “first” inside staple drivers 330 a are slidably mounted within corresponding channels 320 b and 320 c such that each driver 330 a supports two staples 222, one in a channel 320 b and one in a channel 320 c. Likewise, the “second” inside drivers 330 b are slidably mounted within channels 320 d and 320 e such that each driver 330 b supports two staples 222, one in a channel 320 d and one in a channel 320 e. The “outside” drivers 370 a and 370 b are slidably mounted within the staple-receiving channels 320 a and 320 f, respectively. Each of the outside drivers 370 a and 370 b supports a single staple 222. Drivers 370 a are referred to herein as “first” outside drivers and drivers 370 b are referred to herein as “second” outside drivers.
FIG. 12 illustrates a staple 222 that may be used in connection with the various embodiments of the present invention. The staple 222 includes a main portion 223 and two prongs 225. The prongs 225 each have a length “P” and the main portion has a width “W”. The reader will appreciate that a variety of different types of staples may be employed. For example, for a vascular staple, “P” may be approximately 0.102 inches; for a regular staple, “P” may be approximately 0.134 inches; and for a thick tissue staple, “P” may be approximately 0.160 inches. “W” may be approximately 0.012 inches. Other sizes of staples 222 may be employed in the manners discussed below.
The inside staple drivers 330 a located on one side of the elongated slot 310 are referred to herein as “first” inside staple drivers and the inside staple drivers 330 b located on the other side of the elongated slot 310 are referred to herein as “second” inside staple drivers. As will be discussed in further detail below, in one embodiment, the second inside staple drivers 330 b are identical to the first inside staple drivers 330 a, except for their orientation in their respective channels in the cartridge body 302.
FIGS. 13-15 illustrate one embodiment of a “first” inside double driver 330 a for supporting and driving staples 222. As can be seen in those Figures, the staple driver 330 a has a primary driver portion 340 and a secondary driver portion 350 that is connected to the first primary portion 340 by a central base member 360. The primary driver portion 340 has a primary driver base 342 that has a groove 343 therein adapted to mate with a corresponding vertically extending tongue (not shown) in the cartridge body 302 for guiding and stabilizing the driver 330 a as it moves within its respective channel. The primary driver portion 340 further has a first forward support column 344 and a first rearward support column 346 protruding upward from the first driver base 342. The first forward support column 344 has a first forward staple-receiving groove 345 therein and the first rearward support column 346 has a first rearwardly staple-receiving groove 347 therein. See FIGS. 13-15. The first forward support column 344 and the first rearward support column 346 are spaced from each other and collectively form a first staple cradle 348 for supporting the main portion 223 of the staple 222 therein in an upright position (i.e., prongs facing the anvil). Similarly, the secondary driver portion 350 has a secondary driver base 352 and a secondary forward support column 354 and a secondary rearward support column 356 protruding out from the second driver base 352. The secondary forward support column 354 has a secondary forward staple-receiving groove 355 therein and the secondary rearward support column 356 has a secondary rearward staple-receiving groove 357 therein. The secondary forward support column 354 and the secondary rearward support column 356 are spaced from each other and collectively form a secondary staple cradle 358 for supporting the main portion 223 of another staple 222 therein.
As can be seen in FIGS. 13 and 15, the central base member 360 has an angled rearwardly facing edge 362 adapted to be engaged by a corresponding sled cam as will be discussed in further detail below. As can be seen in FIGS. 13 and 14, in this embodiment, the secondary forward support column 354 of the secondary driver portion is oriented relative to the first rearward support column 346 such that the staple 222 that is supported in the secondary staple cradle 358 is longitudinally offset from the staple 222 in the first staple cradle 348. The reader will appreciate that the first inside drivers 330 a are each installed in one orientation into a corresponding pair of channels 320 b and 320 c located on one side of the elongated slot 310 in the cartridge body 302. The second inside staple drivers 330 b (located on the opposite side of the elongated slot 310 from the first inside staple drivers 330 a) comprise inside drivers 330 a rotated 180 degrees so that their respective angled surfaces 363 face towards the proximal end 304 of the cartridge 300 to enable them to be installed in pairs of corresponding channels 320 d and 320 e. Thus, in this embodiment, only one inside driver configuration is employed which thereby eliminates the need for two different inside staple driver configurations for channels on each side of the elongated slot 310.
FIGS. 16 and 17 illustrate one embodiment of a “first” outside staple driver 370 a. As can be seen in those Figures, a first outside staple driver 370 a has a second base 372 that has an angled rearwardly facing portion 374. Protruding upward from the second base 372 is a second forward support column 375 that has a second forward staple-receiving groove 376 therein. A second rearward support column 377 also protrudes upward from the second base 372 in a spaced-apart relationship with respect to the second forward support column 375. The second rearward support column 377 has a second rearward staple-receiving groove 378 therein. The support columns 375, 377 collectively form a second staple cradle 379 that is configured to support a staple 222 therein in an upright position as illustrated in FIGS. 16 and 17. The staple drivers 370 a also have a laterally protruding rib 371 which is received in a corresponding groove (not shown) in the cartridge body 302 for guiding and stabilizing the driver 370 a as it moves within its respective channel.
The reader will appreciate that a first outside driver 370 a is installed in one orientation into a corresponding channel 320 a on one side of the elongated slot 310. A second outside staple driver 370 b (to be located on the opposite side of the elongated slot 310 from the first outside staple drivers 370 a) comprises an outside driver 370 a rotated 180 degrees so that the angled surface 374′ thereon faces toward the proximal end 304 of the cartridge 300 to enable it to be installed in a corresponding channel 320 f in the cartridge body 302. Thus, in this embodiment, only one outside staple driver configuration is employed which avoids the need for two different outside staple driver configurations for channels on each side of the elongated slot 310. FIGS. 19 and 19A illustrate in cross-section one embodiment of a staple cartridge of the present invention mounted within one type of end effector 12. The end effector 12 in this embodiment employs a “stepped” anvil 18 of the type illustrated in FIGS. 23-25. In other embodiments, however, the bottom surface of the anvil is planar and not stepped. As can be seen in FIGS. 19A, and 23-25, the anvil 18 has a central portion 19 that is offset or not coplanar with the two lateral side portions 21, 23. Accordingly, in this embodiment, the upper surface 306 of the cartridge 300 is provided with a recessed central portion 307 and two lateral side portions 309 that are adapted to closely mate with the corresponding portions 19, 21, 23, respectively, of the anvil 18, when the anvil 18 is in the closed position. See FIG. 19A.
As can be seen in FIG. 24, in this embodiment, the under surfaces 200 of anvil 18 are provided with a series of forming pockets 202 that may be arranged in rows that correspond to the rows of channels in the cartridge 300. That is, row 205 of pockets 202 may correspond to channel row 500. Row 207 of pockets may correspond to channel row 502. Row 209 of pockets 202 may correspond to channel row 504. Row 211 of pockets 202 may correspond to channel row 506. Row 213 of pockets 202 may correspond to channel row 508. Row 215 of pockets 202 may correspond to channel row 510. Each pocket 202 has at least one forming surface 203 therein that is adapted to contact the ends of the staple prongs 225 being driven therein to thereby cause the prongs 225 to bend inwardly toward each other. In one embodiment, each pocket 202 has two intersecting arcuate forming surfaces 203 that are oriented as shown in FIG. 14A. Each arcuate forming surface has an apex 203′ that defines a maximum pocket depth “Z”. However other forming pocket configurations could be employed.
Returning to FIGS. 18 and 19, it can be seen that in one embodiment, the cartridge body 302 is mounted within the cartridge tray 224. As illustrated in FIG. 19, the cartridge body 302 is formed with two inside longitudinally extending slots 390 and two outside longitudinally extending slots 392. Slots 390 and 392 extend from the proximal end 304 of the cartridge to its tapered outer tip 306 (shown in FIG. 10). This embodiment further includes a wedge sled 400 that slidably supported on the cartridge tray 224. One wedge sled embodiment 400 includes a pair of inside sled cams 410, wherein one inside sled cam 410 corresponds to one of the inside longitudinally extending slots 390 and wherein the other inside sled cam 410 corresponds to the other inside longitudinally extending slot 390. See FIG. 19. The wedge sled 400 further includes a pair of outside sled cams 420, wherein one outside sled cam 420 corresponds to one of the outside longitudinally extending slots 392 and the other outside sled cam 420 corresponds to the other outside longitudinally extending slot 392 as shown in FIG. 19. When assembled, the cartridge tray 224 holds the wedge sled 400 and the drivers 330 a, 330 b, 370 a, 370 b inside the cartridge body 302.
As can be seen in FIG. 18, the elongate channel 16 has a proximally placed attachment cavity 226 that receives a channel anchoring member 228 on the distal end of the frame 34 for attaching the end effector 12 to the handle portion 20. The elongate channel 16 also has an anvil cam slot 230 that pivotally receives an anvil pivot 232 of the anvil 18. The closure sleeve 32 that encompasses the frame 34 includes a distally presented tab 234 that engages an anvil feature 236 proximate but distal to the anvil pivot 232 on the anvil 18 to thereby effect opening and closing of the anvil 18. The firing drive member 36 is shown as being assembled from the firing bar 14 attached to a firing connector 238 by pins 240, which in turn is rotatingly and proximally attached to the metal drive rod 140. The firing bar 14 is guided at a distal end of the frame by a slotted guide 239 inserted therein.
FIGS. 20-23 illustrate one embodiment of the wedge sled 400 of the present invention. As can be seen in FIGS. 20 and 23, the wedge sled 400 includes a central spacer portion 402 that extends between the inside sled cams 410. A pusher block 404 is formed on the central spacer portion 402 for engagement with the middle pin 46 of the firing bar 14. A side profile of one embodiment of an inside sled cam 410 is depicted in FIG. 21. As can be seen in that Figure, the inside sled cam 410 has a bottom surface 412, and a first camming surface 414 that forms an angle “G” with the bottom surface 412 and a second camming surface 415 that extends to a top surface 416. In one embodiment, for example, the angle “G” may be 35 degrees and the angle “G′” may be 20 degrees. The height of the inside sled cam 410 (the distance between the bottom surface 412 and the top surface 416) is represented as “first” sled cam height “H”. In one embodiment, distance “H’ is approximately 0.173 inches and the length of the top surface 416 may vary from embodiment to embodiment. As will be further evident as the present Detailed Description proceeds, the first sled cam height represents the vertical distance that the inside sled cams 410 will drive the corresponding inside drivers 330 a, 330 b toward the anvil 18 during operation.
The wedge sled 400 further comprises lateral spacer portions 406 that extend between the inside sled cams 410 and the outside sled cams 420 as shown in FIGS. 20 and 23. A side profile of one embodiment of an outside sled cam 420 is depicted in FIG. 22. In this embodiment, the outside sled cam 420 has a bottom surface 422 and a first camming surface 424 that forms an angle “I” with respect to the bottom surface 422 and a second camming surface 425 that to a top surface 426. In one embodiment, angle “I” may be approximately 35 degrees and angle “I” may be approximately 20 degrees. The height of the outside sled cam 420 (the distance between the bottom surface 412 and the top surface 416) is represented as the “second” sled cam height “J”. In one embodiment, distance “J’ is approximately 0.163 inches. The second sled cam height represents the vertical distance that the outside sled cams 420 will drive the corresponding outside drivers 370 a, 370 b toward the anvil 18 during operation. The reader will understand that the above-recited dimensions are illustrative of one embodiment and may vary for other embodiments.
With particular reference to FIG. 23, a portion of the staple cartridge 300 is removed to expose portions of the elongate channel 16, such as recesses 212, 214 and to expose some components of the staple cartridge 300 in their unfired position. In particular, the cartridge body 302 (shown in FIG. 18) has been removed. The wedge sled 400 is shown at its proximal, unfired position with a pusher block 404 contacting the middle pin 46 (not shown in FIG. 23) of the firing bar 14. The wedge sled 400 is in longitudinal sliding contact upon the cartridge tray 224 and includes wedges sled cams 410, 420 that force upward the double drivers 330 a, 330 b and the single drivers 370 b, 370 b as the wedge sled 400 moves distally. Staples 222 (not shown in FIG. 23) resting upon the drivers 330 a, 330 b, 370 a, 370 b are thus also forced upward into contact with the anvil forming pockets 202 in anvil 18 to form closed staples. Also depicted is the channel slot 45 in the elongate channel 16 that is aligned with the elongated slot 310 in the staple cartridge 300.
FIG. 24 depicts the end effector 12, which is in an open position by a retracted closure sleeve 32, with a staple cartridge 300 installed in the elongate channel 16. The firing bar 14 is at its proximal position, with the upper pin 38 aligned in a non-interfering fashion with the anvil pocket 40. The anvil pocket 40 is shown as communicating with the longitudinal anvil slot 42 in the anvil 18. The distally presented cutting edge 48 of the firing bar 14 is aligned with and proximally from removed from the vertical slot 49 in the staple cartridge 300, thereby allowing removal of a spent cartridge and insertion of an unfired cartridge, which may be “snapfit” into the elongate channel 16. Specifically, in this embodiment, extension features 316, 318 of the staple cartridge 300 engage recesses 212, 214, respectively (shown in FIG. 23) of the elongate channel 16.
FIG. 25 depicts the end effector 12 of FIG. 23 with all of the staple cartridge 300 removed to show the middle pin 46 of the firing bar 14 as well as portion of the elongate channel 16 removed adjacent to the channel slot 45 to expose the firing bar cap 44. In addition, portions of the shaft 23 are removed to expose a proximal portion of the firing bar 14. Projecting downward from the anvil 18 near the pivot is a pair of opposing tissue stops 244 which serve to prevent tissue from being positioned too far up into the end effector 12 during clamping. FIG. 26 depicts the end effector 12 in a closed position with the firing bar 14 in an unfired position. The upper pin 38 is in the anvil pocket 40 and is vertically aligned with the anvil slot 42 for distal longitudinal movement of the firing bar 14 during firing. The middle pin 46 is positioned to push the wedge sled 400 distally so that the sled cams 410, 420 contact and lift double drivers 330 a, 330 b and the single drivers 370 a, 370 b, respectively, to drive them upwardly toward the anvil 18.
As can be appreciated from reference to FIGS. 14A, 15A and 19A, in one embodiment of the present invention, the distance between the bottom of the first staple-receiving grooves 345, 347 forming the first staple cradle 349 and the apex 203′ of forming surfaces 203 of the corresponding forming pocket 202 of anvil 18, when the anvil 18 is in the closed position and when the inside driver 330 a, 330 b is supported on the cartridge tray 224, is referred to herein as the first staple forming distance “A”. The distance between the bottom of the secondary staple-receiving grooves 345, 347 forming the secondary staple cradle 349 and the apex 203′ of the forming surface 203 of the corresponding forming pocket 202 in the anvil 18 when the anvil 18 is in the closed position and the inside driver 330 a, 330 b is supported on the cartridge tray 224 is referred to herein as the secondary staple forming distance “B”. In one embodiment, the first staple forming distance “A” and the secondary staple forming distance “B” are substantially equal to each other. In other embodiments, those distances “A” and “B” may differ from each other.
As illustrated in FIGS. 16A and 19A the distance between the bottom of the second staple-receiving grooves 376, 378 that form the second staple cradle 379 and the apex 203′ of the forming surface 203 of a corresponding forming pocket 202 in anvil 18 when the anvil 18 is in the closed position and the outside drivers 370 a, 370 b are supported on the cartridge channel 224, is referred to herein as a “second” staple forming distance “C”.
FIGS. 27 and 28 illustrate the forming of staples supported on some of the first outside drivers 370 a. In FIG. 27, one of the outside sled cams 420 of the wedge sled 400 is initially contacting one of the outside drivers 370 a. As the wedge sled 400 continues in the driving direction represented by arrow “K” in FIG. 28, the outside sled cam 420 causes the outside drivers 370 a drive the staples 222 supported thereby into the staple forming pockets 202 in the anvil 18. Likewise, as the wedge sled 400 is driven in the driving direction “K”, the inside sled cams 410 contact the inside drivers 330 a, 330 b and causes them to drive the staples 222 supported thereby into the corresponding staple forming pockets 202 in the anvil 18.
As indicated above, in some applications involving an area of varied tissue composition, it can be desirable to form rows of staples wherein the formed (final) heights of the staples in a row that is the farthest distance away from the cut line are greater than the formed (final) heights of those staples in the row that is closest to the cut line. In other applications, it may be desirable for the formed heights of the staples in a single row to increase (or decrease) from staple to staple. Another clinical benefit would be to have the formed heights of the staples in the outermost rows larger than formed heights of the staples in the inside rows. The various embodiments of the subject invention can provide these results while employing identical staples in all of the rows.
In the description to follow, those staples 222 in the outermost rows 520, 530 of staples (those staples formed using the outside staple drivers 370 a, 370 b) will be referred to hereinafter as staples 222′ and those staples in the innermost rows 522, 524, 526, 528 of staples (those staples formed using the inside staple drivers 330 a, 330 b) will be referred to hereinafter as staples 222″. It will be understood, however, that staples 222′ and 222″ are identical to each other prior to being formed by the various embodiments of the present invention. That is, staples 222′ and 222″ each have identical prong lengths “P” and widths “W”. Returning to FIGS. 14A-16A and 21 and 22, the above desired effects may be attained by altering the staple forming distances “A”, “B”, and “C” relative to each other and/or the sled cam heights “H” and “J”. In one embodiment of the subject invention, for example, the height “H” of each of the inside sled cams 410 is substantially equal to the sled height “J” of each of the outside sled cams 420. See FIGS. 21 and 22. In this embodiment, the staple forming distances “A” and “B” are substantially equal to each other, but distances “A” and “B” are less than the staple forming distance “C”. The distance “D” between the bottoms of the first staple-receiving grooves 345, 347 and the bottom surface 342′ of the primary driver base 342 is substantially equal to the distance “E” between the bottoms of the secondary staple-receiving grooves 356, 357 and the bottom surface 352′ of the secondary driver base portion 352. See FIG. 15. Also in this embodiment, the distance “F” between the bottoms of the second staple-receiving grooves 376 and 378 and the bottom surface 373 of the third base 372 of the outside drivers 370 a, 370 b (FIG. 16) is less than distances “D” and “E” (FIG. 15). Because the forming distance “C” is greater than the forming distances “A” and “B”, the staples 222 supported and formed by the outside drivers 370 a, 370 b are not compressed as much as the staples supported and formed by the inside drivers 330 a, 330 b. It will be understood that similar results may be attained on the opposite side of the elongated slot 310 and the cut line 600 formed in the tissue by using the same arrangements and sizes of inside drivers 330 b and outside drivers 370 b. In an alternative embodiment, the same effect may be achieved by altering the depths of the forming pockets 202 corresponding to the drivers 330 a and 370 b such that forming distance “C” is greater than the forming distances “”A” and “B”. That is, the depth (distance “Z′” in FIG. 16A) of the forming pockets 202 corresponding to the outside drivers 370 a. 370 b may be greater than the depth (distance “Z” in FIG. 14A) of the forming pockets 202 that correspond to the inside drivers 330 a, 330 b.
FIG. 29 illustrates the rows of staples formed on each side of a cut line 600 utilizing this embodiment of the present invention wherein the forming distances “A” and “B” are equal to each other and the forming distance “C” is greater than the forming distances “A” and “B”. For example, if forming distance “C” is 0.020″ greater than forming distances “A” and “B”, the formed height of the outside staples 222′ (represented as dimension “L” in FIG. 30) in rows 520 and 530 would be 0.020 inches is greater than the formed height of the inside staples 222″ (represented as dimension “M” in FIG. 31) in rows 522, 524, 526, 528.
The same result may be achieved by utilizing another embodiment of the present invention wherein the forming distances “A”, “B” and “C” are essentially equal. In this embodiment, however, the height of each of the inside sled cams 410 (distance “H” in FIG. 21) is greater than the height of each of the outside sled cams 420 (distance “J” in FIG. 22). Thus, because the height “H” of the inside sled cams 410 is greater than the height “J′” of the outside sled cams 420, the inside sled cams 410 will drive the corresponding inside drivers 330 a, 330 b further towards the anvil than the outside sled cams 420 will drive the corresponding outside drivers 370 a, 370 b. Such driving action will cause the staples supported by the inside drivers 330 a, 330 b to be compressed to a greater extent than those staples supported by the outside drivers 370 a, 370 b. For example, if distance “H” is 0.020 inches greater than distance “J”, the formed height of staples 222′ in lines 520, 530 would be 0.020″ greater than the formed height of staples 222″ in lines 522, 524, 526, 528.
When employing yet another embodiment of the present invention, the outside rows 520, 530 of staples 222′ and the inside rows 522, 528 of staples 222″ may be formed with heights that are greater than the formed heights of the staples 222″ in the inside rows 524, 526. See FIG. 32. This result is achieved by making the forming distances “C” greater than the forming distance “A” and making forming distance “A” greater than secondary forming distance “B”.
Another embodiment of the present invention can be used to install staples where it is desirable for the formed heights of staples in a single row to vary. One such arrangement is depicted in FIG. 33. As can be seen in FIG. 33, the formed heights of the staples 222′ in the outside rows 520, 530 increase when moving from the proximal ends 521, 531 of each row 520, 530, respectively to the distal ends 523, 533 of each row 520, 530, respectively. This effect may be accomplished by decreasing the forming distance “C” for each succeeding driver 370 a, 370 b. That is, the driver 370 a closest the proximal end of the cartridge 300 would be sized to establish a forming distance “C” that is greater than the forming distance “C” achieved by the adjacent driver 370 a and so on to achieve a condition wherein each succeeding staple 222′ (moving in the direction from the proximal end to the distal end of the cartridge 300) would have larger formed heights. This result could also be attained in the staples 222″ in rows 522, 524, 526, 528 by similarly altering the forming distances “A” and/or “B” attained by each driver 330 a, 330 b. Likewise, formed heights of the staples 222′ in the outside rows 520, 530 could be made to decrease when moving from the proximal ends 521, 531 of each row 520, 530, respectively, to the distal ends 523, 533 of each row 520, 530, respectively. This result may be attained by increasing the forming distance of each succeeding driver 370 a, 370 b. That is, the driver 370 a closest the proximal end of the cartridge 300 would have a forming distance “C” that is less than the forming distance “C” of the adjacent driver 370 a and so on to achieve a condition wherein each succeeding staple 222′ (moving in the direction from the proximal end to the distal end of the cartridge) would have smaller formed heights. See FIG. 34.
In use, the surgical stapling and severing instrument 10 is used as depicted in FIGS. 1-2 and 35-41. In FIGS. 1-2, the instrument 10 is in its start position, having had an unfired, fully loaded staple cartridge 300 snap-fitted into the distal end of the elongate channel 16. Both triggers 26, 28 are forward and the end effector 12 is open, such as would be typical after inserting the end effector 12 through a trocar or other opening into a body cavity. The instrument 10 is then manipulated by the clinician such that tissue 248 to be stapled and severed is positioned between the staple cartridge 300 and the anvil 18, as depicted in FIG. 35. With reference to FIGS. 36 and 37, the clinician then moves the closure trigger 26 proximally until positioned directly adjacent to the pistol grip 24, locking the handle portion 20 into the closed and clamped position. The retracted firing bar 14 in the end effector 12 does not impede the selective opening and closing of the end effector 12, but rather resides within the anvil pocket 40. With the anvil 18 closed and clamped, the E-beam firing bar 14 is aligned for firing through the end effector 12. In particular, the upper pin 38 is aligned with the anvil slot 42 and the elongate channel 16 is affirmatively engaged about the channel slot 45 by the middle pin 46 and the firing bar cap 44.
With reference to FIGS. 38 and 39, after tissue clamping has occurred, the clinician moves the firing trigger 28 proximally causing the firing bar 14 to move distally into the end effector 12. In particular, the middle pin 46 enters the staple cartridge 300 through the firing drive slot 47 to affect the firing of the staples 222 (not shown in FIGS. 38 and 39) via wedge sled 400 toward the anvil 18. The lowermost pin, or firing bar cap 44, cooperates with the middle pin 46 to slidingly position cutting edge 48 of the firing bar 14 to sever tissue. The two pins 44, 46 also position the upper pin 38 of the firing bar 14 within longitudinal anvil slot 42 of the anvil 18, affirmatively maintaining the spacing between the anvil 18 and the elongate channel 16 throughout its distal firing movement.
With reference to FIGS. 40 and 41, the clinician continues moving the firing trigger 28 until brought proximal to the closure trigger 26 and pistol grip 24. Thereby, all of the ends of the staples 222 are bent over as a result of their engagement with the anvil 18. The firing bar cap 44 is arrested against a firing bar stop 250 projecting toward the distal end of the channel slot 45. The cutting edge 48 has traversed completely through the tissue. The process is complete by releasing the firing trigger 28 and by then depressing the release button 30 while simultaneously squeezing the closure trigger 26 to open the end effector 12.
FIGS. 42-43 show the inside and outside sled cams 410, 420 of the sled 400 having different heights so that the staples, when formed, may have different formed heights. In particular, as shown in FIG. 42 the outside sled cam 420 may be shorter than the inside sled cam 410. That way, the outside staples may have a greater formed height than the inside staples. FIG. 42 is a perspective view of the sled 400 with the different heights for the inside and outside sled cams 410, 420. FIG. 43 is a side view of the end effector 12 showing various stages of driving the staples 222 with a sled 400 having different heights for the inside and outside sled cams 410, 420. As can be seen in FIG. 43, the formed staple 222 b may have a greater formed height than the formed staple 222 a because the staple 222 b was driven by the outside cam sled 420 and the staple 222 a was driven by the taller inside cam sled 410.
In another embodiment, as shown in FIG. 44, the heights of the driver portions 342, 352 of a double driver 330 may vary so that the staples, when formed, may have different heights. In particular, as shown in FIG. 44, the secondary driver portion 352 may be shorter (having height “E”) than the primary driver portion 342 (having height “D”). That way, the staple 222 a driven by the secondary driver portion 352 may have a greater formed height than the staple 222 b driven by the primary driver portion 342. In various embodiments, some or all of the inside double drivers 330 could have primary and secondary driver portions 342 of different heights. Further, the heights differential need not be all the same. Different inside double drivers 330 could have different height differentials.
In addition, the height of the primary and secondary driver portions 342, 352 may be the same as or different from the height of the driver portions 372 of the outside staple drivers 370. That is, in various embodiments, the driver height of the outside staple driver portion 372 may be (1) different from the height of both driver portions 342, 352 of the inside double driver 330 when the driver portions 342, 352 are the same height, (2) different from the height of both driver portions 342, 352 when they are different heights, or (3) the same as the height for one of the driver portions 342, 352 when the driver portions 342, 352 have different heights. Also, the heights of the driver portions 372 of the outside staple drivers 370 need not be all the same. Different outside staple drivers 370 could have different heights.
FIG. 45 shows an embodiment having different height drivers (e.g., the primary driver portion 342 taller than the secondary driver portion 352) and with different depth anvil pockets 202. Varying the depth of the anvil pockets 202 can also affect the height of the formed staples. All things being equal, deeper pockets should result in longer formed staples. In the illustrated embodiment, the pockets 202 corresponding to the primary driver portion 342 are deeper than the pockets 202 corresponding to the secondary driver portion 352. Some or all of the pockets 202 for each staple row 500-510 could be deeper. Also, the depth differentials need not be the same. A multitude of different depths could be used in a single row 500-510 or across rows 500-510.
In addition, as shown in FIG. 46, staples 222 with differing pre-formation prong heights (“P”) may be used. In the illustrated embodiment, the longer staple 222 a is used with the shorter, secondary driver portion 352 of an inside double driver 330 in comparison with staple 222 b driven by the primary driver portion 342. The pre-formation staple prong lengths may vary within a staple row 500-510 or across staple rows. That is, for example, all of the staples in the inside rows 504-506 could have the same pre-formation prong length x, all of the staples in the intermediate rows 502, 508 could be longer (e.g., a length 1.10×), and all of the staples in the outer rows 500, 510 could be still longer (e.g., a length of 1.20×). As shown in FIG. 47, the anvil pockets 202 could have the same depth. In other embodiments, varying anvil pocket depths could be used.
FIG. 48 is a side view of the end effector 12 in an embodiment where the outside staple drivers 370 have different heights. In particular, in the illustrated embodiment, the first staple driver 370′ is taller than the second staple driver 370″. In the illustrated embodiment, the staples 222 have the same pre-formation prong length and the corresponding anvil pockets 202 have the same depth. As such, the formed staple 222″ formed with the second outside staple driver 370″ is longer than the formed staple 222′ formed with the first outside staple driver 370′.
FIG. 49 is a side view of the end effector 12 where the anvil 18 has pockets 202 of different depth for the staples 222 driven by a inside double driver 330. In the illustrated embodiment, the pockets 202 corresponding to the primary driver portion 342 are deeper than the corresponding pockets 202 for the secondary driver portion 352. In this embodiment, the primary and secondary driver portions 342, 352 are the same height and the staples 222 have the same pre-formation prong length. The distance between the top of the primary driver portion 342 and the top of the corresponding anvil pockets 202 is height “A” and the corresponding height for the secondary portion 352 is height “B,” where “A” is greater than “B” by a height differential “h”. This should result in longer formed staples for the primary driver portion 342, as shown in FIG. 50.
FIGS. 51 and 60 show aspects of an end effector 12 according to other embodiments that can be used to produce staples of different formed lengths. In the illustrated embodiment, the staple drivers 330, 370 are driven in stages by a plurality of actuator wedge cams 709 at the distal end of a plurality of wedge band sets 710, 712, 714. In the illustrated embodiment, each wedge band set comprise four wedge bands (shown best in FIG. 56); two 720 for actuating the inner drivers 330 a,b and two 722 for actuating the outer drivers 370 a,b. The wedge bands of the wedge band sets 710, 712, 714 may be actuated in serial order and may ride on top of one another in a stack to drive the staple drivers 330 a,b, 370 a,b (and hence the staples 222) in serial stages. For example, the wedge bands of the lowermost actuator wedge band set 710 may be fired (or actuated) first, and may partially deploy the staples 222. The middle wedge band set 712, which rides on top of the lowermost wedge band set 710 as shown in FIGS. 53-56, may be actuated next, which may have the effect of beginning to form the staples 222. Then the uppermost wedge band set 714, which rides on the middle wedge band set 712, may be actuated, which finishes the formation of the staples 222. FIG. 56 illustrates this operation. In FIG. 56, the lowermost wedge band sets 710 have been fired, the middle wedge band sets 712 have been partially fired, and the uppermost wedge band set 714 has not yet been fired. Thus, such an embodiment may comprise a plurality (in this case four) of stacked wedge band sets, each stack comprising a wedge band from the lowermost set 710, the middle set 712, and the uppermost set 714.
The firing bar 716, with the e-beam firing mechanism 14, may then be fired to cut the tissue clamped by the end effector 12. A hold down spring 718, which may be connected to the frame 34 at a crossbar 719, may engage and urge the firing bar 716 downward.
As can be seen best in FIGS. 54 and 56, the cumulative height of the wedge band stacks of inner row 720 or may be greater than the cumulative height of the wedge band stacks of the outer row 722 (by a height differential h′). That way, the outer row of staples may have a greater formed length than the inner row of formed staples, as shown in the example of FIG. 55, where the outer row staple 222 a has a greater formed length than the inner row staple 222 b. As shown the example of FIG. 61, according to one embodiment, the wedge bands of the lowermost and middle wedge bands sets 710, 712 may be the same height, and the height of the wedge bands for the outer row 722 of the uppermost wedge band set 714 may be less than the height of the wedge bands of the inner row 720 of the uppermost wedge band set 714 to provide the height differential for the different wedge band stacks.
The end effector 12 in such an embodiment may still comprise a sled 400, but without the sled cams 410, 420, to keep the firing mechanism 14 out of the lockout in the channel (see FIGS. 3-4 and related text).
The inner and outer wedge band stacks 720, 722 may be tightly spaced within the frame 34. Accordingly, the end effector 12 may further comprise an actuator wedge band respective guide 702 for spreading out the wedge band stacks 720, 722 when they enter the end effector 12 to align with the staple drivers 330, 370. The wedge band guide 702 may include wedge band channels for each of the inner and outer wedge band stacks 720, 722. That is, in the illustrated embodiment, the wedge band guide 702 may comprise four wedge band channels—two of the inner rows 720 and two for the outer rows 722. FIGS. 58-60 show one side of the wedge band guide 702 in more detail. As shown in FIG. 60, the wedge band channels 730, 732 may force the wedge band stacks 720, 722 outward as they enter the end effector 12. The inner wedge band channel 730 may direct the inner wedge band stack 720 so that the inner wedge band stack 720 aligns with the inner staple drivers 330 and the outer wedge band channel 732 may direct the outer row wedge band stack 722 so that the outer wedge band stack aligns with the outer staple drivers 370. In the illustrated embodiment, the channels 730, 732 are straight. In other embodiments, one or both of the channels 730, 732 may comprise curved portions.
FIG. 62 is a cross-sectional view of the shaft assembly 10 according to such an embodiment. As shown in FIG. 62, each wedge band set 710-714 may have its own actuation (or firing) bar. The lowermost actuation bar 740 may actuate the wedge bands of the lowermost wedge band set 710, the middle actuation bar 742 may actuate the wedge bands of the middle wedge band set 712, and the uppermost actuation bar 744 may actuate the wedge bands of the uppermost wedge band set 714. The firing bar 716 for actuating the cutting instrument 14 may be connected to the uppermost wedge band set 714 so that the cutting instrument 14 is actuated with the uppermost (last) wedge band set 714. In other embodiments, the firing bar 716 may have its own actuation mechanism so that is may be actuated separately.
In practice, the clinician may choose (or select) to actuate less than all of the wedge band sets 710-714 before actuating the firing rod 716 to cut the tissue to thereby exercise some choice in the length of the staples to be formed. For example, in various embodiments, the clinician may select to actuate the lowermost and middle wedge band sets 710, 712—and not the uppermost wedge band set 714—before cutting.
FIGS. 63-69 illustrate an embodiment of an open linear stapling and cutting device 800 that may use multiple stacked wedge band sets to produce staples of different formed lengths. In the illustrated embodiment, the anvil 810 is below the channel 809. As such, the staples are driven down through tissue clamped in the end effector 12 as part of the stapling operation.
The device 800 may include an upper body piece 802 and a lower body piece 804. The upper body piece 802 may include a channel 806 in which the staple cartridge 809 is inserted. The anvil 810 may be connected to the lower body piece 804 and face the staple cartridge 809 so that the staples 222 can be formed against the staple forming surface 812 of the anvil 810. When the clinician is satisfied with the position of the tissue between the cartridge 809 and the anvil 810, the clinician may lock the device 800 using a clamp lever 814 of a clamp lever assembly 816 connected to the upper body piece 802.
The staple drivers 820 in the cartridge 809 may be actuated in stages using multiple staged wedge band stacks. Because the staples 222 are driven down in this embodiment, the wedge bands of the uppermost wedge band set 822 may be actuated first to partially deploy the staples 222. Next, the wedge bands of the middle wedge band set 824, which ride on the uppermost wedge band set 822, may be actuated to begin forming the staples 222. Then the wedge bands of the lowermost wedge band set 826, which ride on the middle wedge band set 824, may be actuated, which finishes the formation of the staples 222.
In the illustrated embodiment, the firing bar 828, with the knife 830 at is distal end, is connected to the lowermost wedge band set 826 and is fired with the lowermost wedge band set 826. A hold down spring 832 may engage and urge the firing bar 828 upward. A knife retainer 834 may retain the firing bar 828 with the lowermost wedge band set 826.
As best shown in FIGS. 67-68, the clinician may actuate the wedge band sets using a three-part actuation slide bar 840. The upper piece 842 may actuate the uppermost (initial) wedge band set 822. The middle piece 844 may actuate the middle wedge band set 824. The lower piece 846 may actuate the lowermost (last) wedge band set 826.
To form staples of different formed heights, the staple pushers 820 may have different heights. For example, as shown in FIG. 66, one set of staple pusher 820 a could be shorter than another set of staple pushers 820 b. As such, the formed staple 222 a, produced by the shorter staple pusher 820 a, may have a longer formed length than the formed staple 222 b, formed by the longer staple pusher 820 b. In other embodiments, the staples 222 may have different lengths or wire diameters to create different length formed staples, and/or the pockets 202 in the anvil 810 could have different depths to create different length formed staples. Also, the cumulative heights of the wedge band stacks could be different.
According to various embodiments of the present invention, the staple drivers could have a staple/driver interface that permits staples of varying wire diameter to be employed. For example, as shown in the embodiments of FIGS. 78-83, the outside staple drivers 370 a,b may have a raised dimple configuration on its upper surface for supporting staples having differing wire diameters. The dimple configuration may comprise, as shown in the illustrated embodiment, two inner sets of outwardly protruding dimples (or convex bumps) 620 a,b, and two outer sets of dimples 622 a,b. Each set of dimples defines a receiving area where a staple 222 may sit in the upright position, as shown in FIGS. 81-83. The dimples of the inner sets 620 a,b may be larger than the dimples of the outer dimple sets 622 a,b so that the receiving area of the inner sets 620 a,b is less than for the outer dimple sets 622 a,b. Nevertheless, due to the convex nature of the dimples, staples 222 of varying wire thicknesses may be accommodated, as shown in FIGS. 82 and 83. For example, the dimples could be configured so that the staple drivers 370 can accommodate staples having a wire diameter of 0.006 inches to 0.012 inches, or some other range such as 0.004 inches to 0.008 inches or 0.006 inches to 0.008 inches, etc. As such, staples of different wire thicknesses could be used in a single cartridge 306. Differing wire diameters would produce different formed staple heights all other things being equal (e.g., same drive/crush distance, same pocket depth, etc.). In addition, as shown best in FIG. 78, the staple cradles for the inside drivers 330 may include sharp points 624 that may injure the tissue that is being stapled. The dimple configurations on the outside staple drivers 370 lack such sharp points, which would tend to minimize the trauma on the tissue being stapled.
In the illustrated embodiment, the outer staple drivers 370 a,b have the raised dimple configuration in order to accommodate staples of different wire diameters and the staple cradles of the inside staple drivers 342, 352 can only support upright staples of one general wire diameter. In other embodiments, the one or both of the inside staple drivers 342, 352 may also or alternatively have the raised dimple configuration. Also, rather than using the raised dimple configuration, a v-shaped staple channel 349, 379 may be used. Such a v-shaped channel may also accommodate staples having different wire diameters. Also, staple pushers with staple interfaces that accommodate different staple wire diameters could be used with other types of staple drivers than the inside double and outside single staple drivers shown in FIGS. 78-83.
FIGS. 70-77 are cross-sectional frontal views of the end effector 12 according to various embodiments of the present invention. In the embodiment shown in FIG. 70, the anvil 18 is stepped, having a central portion 19 that is offset relative to (or not coplanar with) the two lateral side portions 21, 23. Also, the upper surface 306 of the cartridge 300 has a recessed central portion 307 and two lateral side portions 309 (see FIG. 19A). All the staples 222 have the same pre-formation prong height and the corresponding anvil pockets 202 have the same depth. However, due to the stepped nature of the anvil 18, the pockets 202 on the two lateral side portions 21, 23 of the anvil 18 are offset from the pockets in the central portion 19 of the anvil. Offsetting the vertical position of the staple forming pockets 202 can affect the length of the formed staples 222. All other things being equal, staples formed by staple forming pockets that are elevated will have a longer formed length than staples formed with pockets that are not elevated. Also in this embodiment, the primary and secondary driver portions 342, 352 of the double inside drivers 330 a,b are the same height, and the height of the driver portion 372 of the outside staple drivers 370 a,b is greater than the height of the driver portions 342, 352 of the double inside staple drivers 330 a,b. Also, the inside and outside sled cams 410, 4120 are the same height in this embodiment.
FIG. 71 shows an embodiment where the end effector 12 has a stepped cartridge tray 224 at the bottom of the cartridge 300 to match the steps in the channel 16. In particular, in the illustrated embodiment, the cartridge tray 224 has a central portion 602 on which the double inside staple drivers 330 a,b rest and outer lateral portions 604 on which the outside staple drivers 370 a,b rest. As can be seen in FIG. 71, the central portion 602 of the cartridge tray 224 is elevated above the lateral portions 604. As such, the sled 400 may be configured so that the outside sled cam 420 is positioned lower than the inside sled cam 410 so that the outside sled cam 420 can engage the lower outside driver portions 370 a,b.
The embodiment illustrated in FIG. 72 is similar to that shown in FIG. 71 except that in FIG. 72 the cartridge 300 does not include the cartridge tray 224. Rather, the staple drivers 330, 370 rest directly on the channel 16. Such an embodiment may be beneficial because it may allow for more material (e.g., metal) in the channel 16 at points A and B than in a similar embodiment with the cartridge tray 224 (such as shown in FIG. 71).
The embodiment illustrated in FIG. 73 is also similar to that shown in FIG. 71 except that in FIG. 73 the cartridge tray 224 is raised slightly relative to the bottom on the channel 16 in comparison with the embodiment shown in FIG. 71. Such an embodiment may also allow for more material (e.g., metal) in the channel 16 at points A and B than in the embodiment shown in FIG. 71. According to other embodiments, the height of the anvil 18 could be reduced to permit more material in the channel 16 at points A and B.
The embodiment of FIG. 74 is similar to that used in FIG. 73 except that no cartridge tray 224 is included in the embodiment of FIG. 74.
The embodiment of FIG. 75 is similar to that of FIG. 70 except than in FIG. 75 the outer rows of pockets 202 are formed in a compliant material portion 610 of the anvil 18. The compliant material portion 610 may be made from a material that is more compliant to the rest of the anvil 18. For example, the compliant material portion 610 may be made from plastic or a plastic composite material and the rest of the pockets may be defined in a less-compliant material, such as stainless steel, of the anvil 18. The less-compliant anvil portion is sometimes referred to herein as “non-compliant” to distinguish it from the compliant materials portion 610, although it should be recognized that the so-called non-compliant material portion would be somewhat compliant, just less compliant than the compliant material portion 610. All things being equal, staples formed with the outer pockets 202 formed in the compliant material portion 610 of the anvil 18 would be longer than stapled form in the non-compliant (e.g., metal) portion of the anvil 18 because the compliant material portion 610 would compress more during the staple formation process.
FIGS. 76 and 77 collectively show another embodiment. In this embodiment, the channel 16 includes a compliant material portion 612 under the outside drivers 370. The complaint material portion 612 may be plastic or a composite plastic, for example. The inside drivers 330 may rest on the less-compliant (or “non-compliant”) channel 16, which may be made of metal (e.g., stainless steel). The outside sled cam 420 may slightly compress the compliant material portions 612 under the outside drivers 370 when forming the staples in relation to the inside drivers 330 on the channel 16, thereby forming slightly longer staples in the outside rows. In other embodiments, the compliant material portions 612 could be under the inside drivers 330 if it was desired to make the inside staples have a greater formed length.
According to other embodiments, staples of different materials could be used to produce staples of different formed lengths. The different materials may have different modulus of elasticity so that they will be formed differently given the same driving force. Staples having a higher modulus of elasticity will tend to be deformed less given the same driving force, thereby tending to produce staples having a longer formed length. The different materials for the staples 222 may comprise titanium, stainless steel, alloys, etc.
The present invention is also directed to other types of surgical cutting devices that can create formed staples of different heights. For example, FIGS. 84-89 illustrate a circular stapler 900 that is capable of forming staples with different formed heights. As seen in FIG. 84, the circular stapler 900 includes a head 902, an anvil 904, an adjustment knob assembly 906, and a trigger 908. The head 902 is coupled to a handle assembly 910 by an arcuate shaft assembly 912. The trigger 908 is pivotally supported by the handle assembly 910 and acts to operate the stapler 900 when a safety mechanism (not shown) is released. When the trigger 908 is activated, a firing mechanism (not shown in FIG. 84) operates within the shaft assembly 912 so that staples 914 are expelled from the head 902 into forming contact with the anvil 904. Simultaneously, a knife 916 operably supported within the head 902 acts to cut tissue clamped between the head 902 and the anvil 904. The stapler 900 is then pulled through the tissue leaving stapled tissue in its place.
FIGS. 85 and 86 illustrate one form of the anvil 904 and the head 902 that may be employed in connection with various embodiments of the subject invention. As can be seen in these figures, the anvil 904 may have a circular body portion 920 that has an anvil shaft 922 for attaching a trocar (not shown) thereto. The anvil body 920 has a staple forming surface 924 thereon and may also have a shroud 926 attached to the distal end thereof. The anvil 904 may be further provided with a pair of trocar retaining clips or leaf-type springs 928 that serve to releasably retain the trocar in retaining engagement with the anvil shaft 922. A plastic knife board 930 may be fitted into a cavity 932 in the anvil body 904.
The head 902 may comprise a casing member 940 that supports a cartridge supporting assembly in the form of a circular staple driver assembly 942 therein that is adapted to interface with a circular staple cartridge 944 and drive the staples 914 supported therein into forming contact with the staple forming surface 924 of the anvil 904. The circular knife member 916 is also centrally disposed within the staple driver assembly 942. The proximal end of the casing member 940 may be coupled to an outer tubular shroud 946 of the arcuate shaft assembly 912 by a distal ferrule member 948. More details regarding circular staples may be found in U.S. patent application Ser. No. 11/541,151, entitled “Surgical Cutting and Stapling Device with Closure Apparatus for Limiting Maximum Tissue Compression Force,” by F. Shelton et al., filed Sep. 29, 2006, which is incorporated herein by reference.
As can be seen in FIGS. 85-89, the staple driver assembly 942 may comprise an outer ring of staple drivers 950 and an inner ring of staple drivers 952. Correspondingly, the anvil 904 may comprise two concentric rings of staple forming pockets 202. Actuation of the firing trigger 908 of the handle assembly 910 cause a compression shaft (not shown) of the shaft assembly 912 to move distally thereby driving the staple driver assembly 942 distally to fire the staples 914 into forming contact with the staple forming surface 924 of the anvil 904. Thus, the outer staple drivers 950, when actuated by the drive mechanism of the stapler 900, drive an outer ring of staples 914 into the clamped tissue and are formed by surface forming surface 924 of the anvil 904. Similarly, the inner staple drivers 952, when actuated by the drive mechanism of the stapler 900, drive an outer ring of staples 914 into the clamped tissue and are formed by surface forming surface 924 of the anvil 904.
The staple drivers 950, 952 could be of different heights to thereby form different length formed staples (all other things being equal). For example, as shown in the illustrated embodiment, the outer staple drivers 950 may be shorter than the inner staple drivers 952 so that the outer formed staples are longer than the inner formed staples, as shown in FIG. 88. Of course, in other embodiments, the inner staple drivers 952 could be shorter than the outer staple drivers 950. Further, the outer staple drivers 950 may not be a uniform height; there could be height variation among the outer staple drivers 950. Similarly, there could be height variation among the inner staple drivers 952.
In addition, staples with different pre-formation prong heights could be used. Also, the staple forming pockets 202 in the surface forming surface 924 of the anvil 904 may have varying depths to thereby vary the length of the formed staples. Also, as described above, some or all of the staple drivers 950, 952 may have a dimple configuration at their interface with the staples 914 to accommodate staples of different wire diameters or some other configuration that accommodates staples of different wire diameters (e.g., a v-shaped staple channel). Also, some of the pockets 202 in the anvil 1006 may be formed in a compliant material portion of the anvil 1006. Also, the staples 914 could be made of materials that have a different modulus of elasticity.
In other embodiments, as shown in FIGS. 90-95, the present invention is directed to a linear stapler 1000 that is capable of forming staples of different heights. FIGS. 90-95 focus on the end effector 1002 for such a linear stapler 1000. The end effector 1002 may comprise a replaceable staple cartridge 1004 and a linear anvil 1006. The cartridge 1004 comprises staples which are driven into and formed by the anvil 1006 when the device 1000 is actuated. Unlike the endocutters described before, the anvil 1006 may be non-rotatable in the linear stapler 1000. To clamp tissue in the end effector 1002, the user may squeeze a clamping trigger (not shown), which causes the cartridge 1004 to slide distally toward the anvil 1006 from an open position to a closed position. More details regarding the operation and components of a liner stapler may be found in U.S. Pat. No. 5,697,543, entitled “Linear Stapler With Improved Firing Stroke,” by M. Burdorff (“the '543 patent”), which is incorporated herein by reference. Typically, such linear staplers do not comprise a cutting instrument.
FIGS. 92-93 show the end effector 1002 with the outer cover of the cartridge 1004 removed. As can be seen in these figures, the staple cartridge 1004 may comprise a staple driver assembly 1010 comprising a row of inner staple drivers 1012 and a row of outer staple drivers 1014. The staple drivers 1012, 1014 could be of different heights to thereby form different length formed staples (all other things being equal). For example, as shown in the illustrated embodiment, the outer staple drivers 1014 may be shorter than the inner staple drivers 1012 so that the outer formed staples 222 b are longer than the inner formed staples 222 a, as shown in FIGS. 94-95. Of course, in other embodiments, the inner staple drivers 1012 could be shorter than the outer staple drivers 1014. Further, the outer staple drivers 1014 may not be a uniform height; there could be height variation among the outer staple drivers 1014. Similarly, there could be height variation among the inner staple drivers 1012. Also, the cartridge 1004 may comprise, for example, three rows of staples, where the outer two rows have shorter staple drivers and the inner row has longer staple drivers.
In addition, staples 1008 having different pre-formation prong heights could be used. Also, the staple forming pockets 202 in the surface forming surface 1016 of the anvil 1006 may have varying depths to thereby vary the length of the formed staples. Also, as described above, some or all of the staple drivers 1012, 1014 may have a dimple configuration at their interface with the staples 1008 to accommodate staples of different wire diameters or some other configuration that accommodates staples of different wire diameters (e.g., a v-shaped staple channel). Also, some of the pockets 202 in the anvil 1006 may be formed in a compliant material portion of the anvil 1006. Also, staples 1008 of different materials could be used.
In operation, as described in more detail in the '543 patent, when the clamping trigger is retracted by the user, the anvil 1006 is cause to slide proximally toward the staple cartridge 1004 into the closed position to clamp tissue in the end effector 102. The cartridge 1004 may comprise a distally-extending tissue retaining pin 1020 that engages an opening 1022 in the anvil when the end effector 1002 is in the closed position to retain the tissue between the cartridge 1004 and the anvil 1002. When the clinician retracts the separate firing trigger (not shown), a distally extending firing bar (not shown) is actuated, which actuates the staple drivers 1010 to drive the staples 1008.
In another embodiment, the linear stapler 1000 could be configured so that the staple cartridge 1004 slides distally toward the anvil when the clamping trigger is actuated.
It should be recognized that stapling devices according to the present invention may combine some of the features described herein for creating staples of different formed lengths. For example, for embodiments having different staple crushing distances, the staples may all have the same pre-formation prong length or some staples may have different pre-formation prong lengths. Also, the staples may all be made out of the same material, or staples made of different materials, with different modulus of elasticity, could be used. Also, the staple wire diameters may all be the same or some of them could be different.
The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
Preferably, the various embodiments of the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.
It is preferred that the device is sterilized. This can be done by any number of ways known to those skilled in the art including beta or gamma radiation, ethylene oxide, steam.
While the present invention has been illustrated by description of several embodiments and while the illustrative embodiments have been described in considerable detail, it is not the intention of the applicant to restrict or in any way limit the scope of the appended claims to such detail. Additional advantages and modifications may readily appear to those skilled in the art. The various embodiments of the present invention represent vast improvements over prior staple methods that require the use of different sizes of staples in a single cartridge to achieve staples that have differing formed (final) heights.
Accordingly, the present invention has been discussed in terms of endoscopic procedures and apparatus. However, use herein of terms such as “endoscopic” should not be construed to limit the present invention to a surgical stapling and severing instrument for use only in conjunction with an endoscopic tube (i.e., trocar). On the contrary, it is believed that the present invention may find use in any procedure where access is limited to a small incision, including but not limited to laparoscopic procedures, as well as open procedures. Moreover, the unique and novel aspects of the various staple cartridge embodiments of the present invention may find utility when used in connection with other forms of stapling apparatuses without departing from the spirit and scope of the present invention.
Over the years a variety of minimally invasive robotic (or “telesurgical”) systems have been developed to increase surgical dexterity as well as to permit a surgeon to operate on a patient in an intuitive manner. Many of such systems are disclosed in the following U.S. patents which are each herein incorporated by reference in their respective entirety: U.S. Pat. No. 5,792,135, entitled “Articulated Surgical Instrument For Performing Minimally Invasive Surgery With Enhanced Dexterity and Sensitivity”, U.S. Pat. No. 6,231,565, entitled “Robotic Arm DLUS For Performing Surgical Tasks”, U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument”, U.S. Pat. No. 6,364,888, entitled “Alignment of Master and Slave In a Minimally Invasive Surgical Apparatus”, U.S. Pat. No. 7,524,320, entitled “Mechanical Actuator Interface System For Robotic Surgical Tools”, U.S. Pat. No. 7,691,098, entitled Platform Link Wrist Mechanism”, U.S. Pat. No. 7,806,891, entitled “Repositioning and Reorientation of Master/Slave Relationship in Minimally Invasive Telesurgery”, and U.S. Pat. No. 7,824,401, entitled “Surgical Tool With Writed Monopolar Electrosurgical End Effectors”. Many of such systems, however, have in the past been unable to generate the magnitude of forces required to effectively cut and fasten tissue.
FIG. 96 depicts one version of a master controller 11001 that may be used in connection with a robotic arm slave cart 11100 of the type depicted in FIG. 96. Master controller 11001 and robotic arm slave cart 11100, as well as their respective components and control systems are collectively referred to herein as a robotic system 11000. Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320 which has been herein incorporated by reference. Thus, various details of such devices will not be described in detail herein beyond that which may be necessary to understand various embodiments and forms of the present invention. As is known, the master controller 11001 generally includes master controllers (generally represented as 11003 in FIG. 96) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display 11002. The master controllers 11001 generally comprise manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating tools (for example, for closing grasping saws, applying an electrical potential to an electrode, or the like).
As can be seen in FIG. 97, in one form, the robotic arm cart 11100 is configured to actuate a plurality of surgical tools, generally designated as 11200. Various robotic surgery systems and methods employing master controller and robotic arm cart arrangements are disclosed in U.S. Pat. No. 6,132,368, entitled “Multi-Component Telepresence System and Method”, the full disclosure of which is incorporated herein by reference. In various forms, the robotic arm cart 11100 includes a base 11002 from which, in the illustrated embodiment, three surgical tools 11200 are supported. In various forms, the surgical tools 11200 are each supported by a series of manually articulatable linkages, generally referred to as set-up joints 11104, and a robotic manipulator 11106. These structures are herein illustrated with protective covers extending over much of the robotic linkage. These protective covers may be optional, and may be limited in size or entirely eliminated in some embodiments to minimize the inertia that is encountered by the servo mechanisms used to manipulate such devices, to limit the volume of moving components so as to avoid collisions, and to limit the overall weight of the cart 11100. Cart 11100 will generally have dimensions suitable for transporting the cart 11100 between operating rooms. The cart 11100 may be configured to typically fit through standard operating room doors and onto standard hospital elevators. In various forms, the cart 11100 would preferably have a weight and include a wheel (or other transportation) system that allows the cart 1100 to be positioned adjacent an operating table by a single attendant.
Referring now to FIG. 98, in at least one form, robotic manipulators 11106 may include a linkage 11108 that constrains movement of the surgical tool 11200. In various embodiments, linkage 11108 includes rigid links coupled together by rotational joints in a parallelogram arrangement so that the surgical tool 11200 rotates around a point in space 11110, as more fully described in issued U.S. Pat. No. 5,817,084, the full disclosure of which is herein incorporated by reference. The parallelogram arrangement constrains rotation to pivoting about an axis 11112 a, sometimes called the pitch axis. The links supporting the parallelogram linkage are pivotally mounted to set-up joints 11104 (FIG. 97) so that the surgical tool 11200 further rotates about an axis 11112 b, sometimes called the yaw axis. The pitch and yaw axes 11112 a, 11112 b intersect at the remote center 11114, which is aligned along a shaft 11208 of the surgical tool 11200. The surgical tool 11200 may have further degrees of driven freedom as supported by manipulator 11106, including sliding motion of the surgical tool 11200 along the longitudinal tool axis “LT-LT”. As the surgical tool 11200 slides along the tool axis LT-LT relative to manipulator 11106 (arrow 11112 c), remote center 11114 remains fixed relative to base 11116 of manipulator 11106. Hence, the entire manipulator is generally moved to re-position remote center 11114. Linkage 11108 of manipulator 11106 is driven by a series of motors 11120. These motors actively move linkage 11108 in response to commands from a processor of a control system. As will be discussed in further detail below, motors 11120 are also employed to manipulate the surgical tool 11200.
An alternative set-up joint structure is illustrated in FIG. 99. In this embodiment, a surgical tool 11200 is supported by an alternative manipulator structure 11106′ between two tissue manipulation tools. Those of ordinary skill in the art will appreciate that various embodiments of the present invention may incorporate a wide variety of alternative robotic structures, including those described in U.S. Pat. No. 5,878,193, entitled “Automated Endoscope System For Optimal Positioning”, the full disclosure of which is incorporated herein by reference. Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is primarily described herein with reference to communication between the surgical tool 11200 and the master controller 11001, it should be understood that similar communication may take place between circuitry of a manipulator, a set-up joint, an endoscope or other image capture device, or the like, and the processor of the robotic surgical system for component compatibility verification, component-type identification, component calibration (such as off-set or the like) communication, confirmation of coupling of the component to the robotic surgical system, or the like.
An exemplary non-limiting surgical tool 11200 that is well-adapted for use with a robotic system 11000 that has a tool drive assembly 11010 (FIG. 101) that is operatively coupled to a master controller 11001 that is operable by inputs from an operator (i.e., a surgeon) is depicted in FIG. 100. As can be seen in that Figure, the surgical tool 11200 includes a surgical end effector 12012 that comprises an endocutter. In at least one form, the surgical tool 11200 generally includes an elongated shaft assembly 12008 that has a proximal closure tube 12040 and a distal closure tube 12042 that are coupled together by an articulation joint 12011. The surgical tool 11200 is operably coupled to the manipulator by a tool mounting portion, generally designated as 11300. The surgical tool 11200 further includes an interface 11230 which mechanically and electrically couples the tool mounting portion 11300 to the manipulator. One form of interface 11230 is illustrated in FIGS. 101-105. In various embodiments, the tool mounting portion 11300 includes a tool mounting plate 11302 that operably supports a plurality of (four are shown in FIG. 105) rotatable body portions, driven discs or elements 11304, that each include a pair of pins 11306 that extend from a surface of the driven element 11304. One pin 11306 is closer to an axis of rotation of each driven elements 11304 than the other pin 11306 on the same driven element 11304, which helps to ensure positive angular alignment of the driven element 11304. Interface 11230 includes an adaptor portion 11240 that is configured to mountingly engage the mounting plate 11302 as will be further discussed below. The adaptor portion 11240 may include an array of electrical connecting pins 11242 (FIG. 103) which may be coupled to a memory structure by a circuit board within the tool mounting portion 11300. While interface 11230 is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
As can be seen in FIGS. 101-104, the adapter portion 11240 generally includes a tool side 11244 and a holder side 11246. In various forms, a plurality of rotatable bodies 11250 are mounted to a floating plate 11248 which has a limited range of movement relative to the surrounding adaptor structure normal to the major surfaces of the adaptor 11240. Axial movement of the floating plate 11248 helps decouple the rotatable bodies 11250 from the tool mounting portion 11300 when the levers 11303 along the sides of the tool mounting portion housing 11301 are actuated (See FIG. 100). Other mechanisms/arrangements may be employed for releasably coupling the tool mounting portion 11300 to the adaptor 11240. In at least one form, rotatable bodies 11250 are resiliently mounted to floating plate 11248 by resilient radial members which extend into a circumferential indentation about the rotatable bodies 11250. The rotatable bodies 11250 can move axially relative to plate 11248 by deflection of these resilient structures. When disposed in a first axial position (toward tool side 11244) the rotatable bodies 11250 are free to rotate without angular limitation. However, as the rotatable bodies 11250 move axially toward tool side 11244, tabs 11252 (extending radially from the rotatable bodies 11250) laterally engage detents on the floating plates so as to limit angular rotation of the rotatable bodies 11250 about their axes. This limited rotation can be used to help drivingly engage the rotatable bodies 11250 with drive pins 11272 of a corresponding tool holder portion 11270 of the robotic system 11000, as the drive pins 11272 will push the rotatable bodies 11250 into the limited rotation position until the pins 11234 are aligned with (and slide into) openings 11256′. Openings 11256 on the tool side 11244 and openings 11256′ on the holder side 11246 of rotatable bodies 11250 are configured to accurately align the driven elements 11304 (FIG. 105) of the tool mounting portion 11300 with the drive elements 11271 of the tool holder 11270. As described above regarding inner and outer pins 11306 of driven elements 11304, the openings 11256, 11256′ are at differing distances from the axis of rotation on their respective rotatable bodies 11250 so as to ensure that the alignment is not 180 degrees from its intended position. Additionally, each of the openings 11256 is slightly radially elongated so as to fittingly receive the pins 11306 in the circumferential orientation. This allows the pins 11306 to slide radially within the openings 11256, 11256′ and accommodate some axial misalignment between the tool 11200 and tool holder 11270, while minimizing any angular misalignment and backlash between the drive and driven elements. Openings 11256 on the tool side 11244 are offset by about 90 degrees from the openings 11256′ (shown in broken lines) on the holder side 11246, as can be seen most clearly in FIG. 104.
Various embodiments may further include an array of electrical connector pins 11242 located on holder side 11246 of adaptor 11240, and the tool side 11244 of the adaptor 11240 may include slots 11258 (FIG. 104) for receiving a pin array (not shown) from the tool mounting portion 11300. In addition to transmitting electrical signals between the surgical tool 11200 and the tool holder 11270, at least some of these electrical connections may be coupled to an adaptor memory device 11260 (FIG. 103) by a circuit board of the adaptor 11240.
A detachable latch arrangement 11239 may be employed to releasably affix the adaptor 11240 to the tool holder 11270. As used herein, the term “tool drive assembly” when used in the context of the robotic system 11000, at least encompasses various embodiments of the adapter 11240 and tool holder 11270 and which has been generally designated as 11010 in FIG. 101. For example, as can be seen in FIG. 101, the tool holder 11270 may include a first latch pin arrangement 11274 that is sized to be received in corresponding clevis slots 11241 provided in the adaptor 11240. In addition, the tool holder 11270 may further have second latch pins 11276 that are sized to be retained in corresponding latch devises 11243 in the adaptor 11240. See FIG. 103. In at least one form, a latch assembly 11245 is movably supported on the adapter 1240 and is biasable between a first latched position wherein the latch pins 11276 are retained within their respective latch clevis 11243 and an unlatched position wherein the second latch pins 11276 may be into or removed from the latch devises 11243. A spring or springs (not shown) are employed to bias the latch assembly into the latched position. A lip on the tool side 11244 of adaptor 11240 may slidably receive laterally extending tabs of tool mounting housing 11301.
Turning next to FIGS. 105-112, in at least one embodiment, the surgical tool 11200 includes a surgical end effector 12012 that comprises in this example, among other things, at least one component 12024 that is selectively movable between first and second positions relative to at least one other component 12022 in response to various control motions applied thereto as will be discussed in further detail below. In various embodiments, component 12022 comprises an elongated channel 12022 configured to operably support a surgical staple cartridge 12034 therein and component 12024 comprises a pivotally translatable clamping member, such as an anvil 12024. Various embodiments of the surgical end effector 12012 are configured to maintain the anvil 12024 and elongated channel 12022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12012. As can be seen in FIG. 111, the surgical end effector 12012 further includes a cutting instrument 12032 and a sled 12033. The cutting instrument 12032 may be, for example, a knife. The surgical staple cartridge 12034 operably houses a plurality of surgical staples (not show) therein that are supported on movable staple drivers (not shown). As the cutting instrument 12032 is driven distally through a centrally-disposed slot (not shown) in the surgical staple cartridge 12034, it forces the sled 12033 distally as well. As the sled 12033 is driven distally, its “wedge-shaped” configuration contacts the movable staple drivers and drives them vertically toward the closed anvil 12024. The surgical staples are formed as they are driven into the forming surface located on the underside of the anvil 12024. The sled 12033 may be part of the surgical staple cartridge 12034, such that when the cutting instrument 12032 is retracted following the cutting operation, the sled 12033 does not retract. The anvil 12024 may be pivotably opened and closed at a pivot point 12025 located at the proximal end of the elongated channel 12022. The anvil 12024 may also include a tab 12027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 12024. The elongated channel 12022 and the anvil 12024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 12034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12034, as was also described above.
As can be seen in FIGS. 105-112, the surgical end effector 12012 is attached to the tool mounting portion 11300 by an elongated shaft assembly 12008 according to various embodiments. As shown in the illustrated embodiment, the shaft assembly 12008 includes an articulation joint generally indicated as 12011 that enables the surgical end effector 12012 to be selectively articulated about an articulation axis AA-AA that is substantially transverse to a longitudinal tool axis LT-LT. See FIG. 106. In other embodiments, the articulation joint is omitted. In various embodiments, the shaft assembly 12008 may include a closure tube assembly 12009 that comprises a proximal closure tube 12040 and a distal closure tube 12042 that are pivotably linked by a pivot links 12044 and operably supported on a spine assembly generally depicted as 12049. In the illustrated embodiment, the spine assembly 12049 comprises a distal spine portion 12050 that is attached to the elongated channel 12022 and is pivotally coupled to the proximal spine portion 12052. The closure tube assembly 12009 is configured to axially slide on the spine assembly 12049 in response to actuation motions applied thereto. The distal closure tube 12042 includes an opening 12045 into which the tab 12027 on the anvil 12024 is inserted in order to facilitate opening of the anvil 12024 as the distal closure tube 12042 is moved axially in the proximal direction “PD”. The closure tubes 12040, 12042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the main drive shaft assembly (e.g., the drive shafts 12048, 12050) may be made of a nonconductive material (such as plastic).
In use, it may be desirable to rotate the surgical end effector 12012 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 11300 includes a rotational transmission assembly 12069 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12008 (and surgical end effector 12012) about the longitudinal tool axis LT-LT. In various embodiments, for example, the proximal end 12060 of the proximal closure tube 12040 is rotatably supported on the tool mounting plate 11302 of the tool mounting portion 11300 by a forward support cradle 11309 and a closure sled 12100 that is also movably supported on the tool mounting plate 11302. In at least one form, the rotational transmission assembly 12069 includes a tube gear segment 12062 that is formed on (or attached to) the proximal end 12060 of the proximal closure tube 12040 for operable engagement by a rotational gear assembly 12070 that is operably supported on the tool mounting plate 11302. As can be seen in FIG. 108, the rotational gear assembly 12070, in at least one embodiment, comprises a rotation drive gear 12072 that is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302 when the tool mounting portion 11300 is coupled to the tool drive assembly 11010. See FIG. 105. The rotational gear assembly 12070 further comprises a rotary driven gear 12074 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the tube gear segment 12062 and the rotation drive gear 12072. Application of a first rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 12072. Rotation of the rotation drive gear 12072 ultimately results in the rotation of the elongated shaft assembly 12008 (and the surgical end effector 12012) about the longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 108). It will be appreciated that the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the rotation of the elongated shaft assembly 12008 and surgical end effector 12012 about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly 12008 and surgical end effector 12012 in a second direction that is opposite to the first direction.
In at least one embodiment, the closure of the anvil 12024 relative to the staple cartridge 12034 is accomplished by axially moving the closure tube assembly 12009 in the distal direction “DD” on the spine assembly 12049. As indicated above, in various embodiments, the proximal end 12060 of the proximal closure tube 12040 is supported by the closure sled 12100 which comprises a portion of a closure transmission, generally depicted as 12099. In at least one form, the closure sled 12100 is configured to support the closure tube 12009 on the tool mounting plate 11320 such that the proximal closure tube 12040 can rotate relative to the closure sled 12100, yet travel axially with the closure sled 12100. In particular, as can be seen in FIG. 113, the closure sled 12100 has an upstanding tab 12101 that extends into a radial groove 12063 in the proximal end portion of the proximal closure tube 12040. In addition, as can be seen in FIGS. 110 and 113, the closure sled 12100 has a tab portion 12102 that extends through a slot 11305 in the tool mounting plate 11302. The tab portion 12102 is configured to retain the closure sled 12100 in sliding engagement with the tool mounting plate 11302. In various embodiments, the closure sled 12100 has an upstanding portion 12104 that has a closure rack gear 12106 formed thereon. The closure rack gear 12106 is configured for driving engagement with a closure gear assembly 12110. See FIG. 110.
In various forms, the closure gear assembly 12110 includes a closure spur gear 12112 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302. See FIG. 105. Thus, application of a second rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 12112 when the tool mounting portion 11300 is coupled to the tool drive assembly 11010. The closure gear assembly 12110 further includes a closure reduction gear set 12114 that is supported in meshing engagement with the closure spur gear 12112. As can be seen in FIGS. 109 and 110, the closure reduction gear set 12114 includes a driven gear 12116 that is rotatably supported in meshing engagement with the closure spur gear 12112. The closure reduction gear set 12114 further includes a first closure drive gear 12118 that is in meshing engagement with a second closure drive gear 12120 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the closure rack gear 12106. Thus, application of a second rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 12112 and the closure transmission 12110 and ultimately drive the closure sled 12100 and closure tube assembly 12009 axially. The axial direction in which the closure tube assembly 12009 moves ultimately depends upon the direction in which the second driven element 11304 is rotated. For example, in response to one rotary output motion received from the tool drive assembly 11010 of the robotic system 11000, the closure sled 12100 will be driven in the distal direction “DD” and ultimately drive the closure tube assembly 11009 in the distal direction. As the distal closure tube 12042 is driven distally, the end of the closure tube segment 12042 will engage a portion of the anvil 12024 and cause the anvil 12024 to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly 11010 of the robotic system 11000, the closure sled 12100 and shaft assembly 12008 will be driven in the proximal direction “PD”. As the distal closure tube 12042 is driven in the proximal direction, the opening 12045 therein interacts with the tab 12027 on the anvil 12024 to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil to the open position when the distal closure tube 12042 has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly 12110 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 12024 onto the tissue to be cut and stapled by the surgical end effector 12012. For example, the gears of the closure transmission 12110 may be sized to generate approximately 70-120 pounds.
In various embodiments, the cutting instrument 12032 is driven through the surgical end effector 12012 by a knife bar 12200. See FIGS. 111 and 113. In at least one form, the knife bar 12200 may be fabricated from, for example, stainless steel or other similar material and has a substantially rectangular cross-sectional shape. Such knife bar configuration is sufficiently rigid to push the cutting instrument 12032 through tissue clamped in the surgical end effector 12012, while still being flexible enough to enable the surgical end effector 12012 to articulate relative to the proximal closure tube 12040 and the proximal spine portion 12052 about the articulation axis AA-AA as will be discussed in further detail below. As can be seen in FIGS. 114 and 115, the proximal spine portion 12052 has a rectangular-shaped passage 12054 extending therethrough to provide support to the knife bar 12200 as it is axially pushed therethrough. The proximal spine portion 12052 has a proximal end 12056 that is rotatably mounted to a spine mounting bracket 12057 attached to the tool mounting plate 11032. See FIG. 113. Such arrangement permits the proximal spine portion 12052 to rotate, but not move axially, within the proximal closure tube 12040.
As shown in FIG. 111, the distal end 12202 of the knife bar 12200 is attached to the cutting instrument 12032. The proximal end 12204 of the knife bar 12200 is rotatably affixed to a knife rack gear 12206 such that the knife bar 12200 is free to rotate relative to the knife rack gear 12206. See FIG. 113. As can be seen in FIGS. 107-112, the knife rack gear 12206 is slidably supported within a rack housing 12210 that is attached to the tool mounting plate 11302 such that the knife rack gear 12206 is retained in meshing engagement with a knife gear assembly 12220. More specifically and with reference to FIG. 110, in at least one embodiment, the knife gear assembly 12220 includes a knife spur gear 12222 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302. See FIG. 105. Thus, application of another rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding third driven element 11304 will cause rotation of the knife spur gear 12222. The knife gear assembly 12220 further includes a knife gear reduction set 12224 that includes a first knife driven gear 12226 and a second knife drive gear 12228. The knife gear reduction set 12224 is rotatably mounted to the tool mounting plate 11302 such that the firs knife driven gear 12226 is in meshing engagement with the knife spur gear 12222. Likewise, the second knife drive gear 12228 is in meshing engagement with a third knife drive gear 12230 that is rotatably supported on the tool mounting plate 11302 in meshing engagement with the knife rack gear 12206. In various embodiments, the gears of the knife gear assembly 12220 are sized to generate the forces needed to drive the cutting element 12032 through the tissue clamped in the surgical end effector 12012 and actuate the staples therein. For example, the gears of the knife drive assembly 12230 may be sized to generate approximately 40 to 100 pounds. It will be appreciated that the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the axial movement of the cutting instrument 12032 in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument 12032 in a proximal direction.
In various embodiments, the surgical tool 11200 employs and articulation system 12007 that includes an articulation joint 12011 that enables the surgical end effector 12012 to be articulated about an articulation axis AA-AA that is substantially transverse to the longitudinal tool axis LT-LT. In at least one embodiment, the surgical tool 11200 includes first and second articulation bars 12250 a, 12250 b that are slidably supported within corresponding passages 12053 provided through the proximal spine portion 12052. See FIGS. 113 and 115. In at least one form, the first and second articulation bars 12250 a, 12250 b are actuated by an articulation transmission generally designated as 12249 that is operably supported on the tool mounting plate 11032. Each of the articulation bars 12250 a, 12250 b has a proximal end 12252 that has a guide rod protruding therefrom which extend laterally through a corresponding slot in the proximal end portion of the proximal spine portion 12052 and into a corresponding arcuate slot in an articulation nut 12260 which comprises a portion of the articulation transmission. FIG. 114 illustrates articulation bar 12250 a. It will be understood that articulation bar 12250 b is similarly constructed. As can be seen in FIG. 114, for example, the articulation bar 12250 a has a guide rod 12254 which extends laterally through a corresponding slot 12058 in the proximal end portion 12056 of the distal spine portion 12050 and into a corresponding arcuate slot 12262 in the articulation nut 12260. In addition, the articulation bar 12250 a has a distal end 12251 a that is pivotally coupled to the distal spine portion 12050 by, for example, a pin 12253 a and articulation bar 12250 b has a distal end 12251 b that is pivotally coupled to the distal spine portion 12050 by, for example, a pin 12253 b. In particular, the articulation bar 12250 a is laterally offset in a first lateral direction from the longitudinal tool axis LT-LT and the articulation bar 12250 b is laterally offset in a second lateral direction from the longitudinal tool axis LT-LT. Thus, axial movement of the articulation bars 12250 a and 12250 b in opposing directions will result in the articulation of the distal spine portion 12050 as well as the surgical end effector 12012 attached thereto about the articulation axis AA-AA as will be discussed in further detail below.
Articulation of the surgical end effector 12012 is controlled by rotating the articulation nut 12260 about the longitudinal tool axis LT-LT. The articulation nut 12260 is rotatably journaled on the proximal end portion 12056 of the distal spine portion 12050 and is rotatably driven thereon by an articulation gear assembly 12270. More specifically and with reference to FIG. 108, in at least one embodiment, the articulation gear assembly 12270 includes an articulation spur gear 12272 that is coupled to a corresponding fourth one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 11302. See FIG. 105. Thus, application of another rotary input motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding fourth driven element 11304 will cause rotation of the articulation spur gear 12272 when the interface 11230 is coupled to the tool holder 11270. An articulation drive gear 12274 is rotatably supported on the tool mounting plate 11302 in meshing engagement with the articulation spur gear 12272 and a gear portion 12264 of the articulation nut 12260 as shown. As can be seen in FIGS. 113 and 114, the articulation nut 12260 has a shoulder 12266 formed thereon that defines an annular groove 12267 for receiving retaining posts 12268 therein. Retaining posts 12268 are attached to the tool mounting plate 11302 and serve to prevent the articulation nut 12260 from moving axially on the proximal spine portion 12052 while maintaining the ability to be rotated relative thereto. Thus, rotation of the articulation nut 12260 in a first direction, will result in the axial movement of the articulation bar 12250 a in a distal direction “DD” and the axial movement of the articulation bar 12250 b in a proximal direction “PD” because of the interaction of the guide rods 12254 with the spiral slots 12262 in the articulation gear 12260. Similarly, rotation of the articulation nut 12260 in a second direction that is opposite to the first direction will result in the axial movement of the articulation bar 12250 a in the proximal direction “PD” as well as cause articulation bar 12250 b to axially move in the distal direction “DD”. Thus, the surgical end effector 12012 may be selectively articulated about articulation axis “AA-AA” in a first direction “FD” by simultaneously moving the articulation bar 12250 a in the distal direction “DD” and the articulation bar 12250 b in the proximal direction “PD”. Likewise, the surgical end effector 12012 may be selectively articulated about the articulation axis “AA-AA” in a second direction “SD” by simultaneously moving the articulation bar 12250 a in the proximal direction “PD” and the articulation bar 12250 b in the distal direction “DD.” See FIG. 106.
The tool embodiment described above employs an interface arrangement that is particularly well-suited for mounting the robotically controllable medical tool onto at least one form of robotic arm arrangement that generates at least four different rotary control motions. Those of ordinary skill in the art will appreciate that such rotary output motions may be selectively controlled through the programmable control systems employed by the robotic system/controller. For example, the tool arrangement described above may be well-suited for use with those robotic systems manufactured by Intuitive Surgical, Inc. of Sunnyvale, Calif., U.S.A., many of which may be described in detail in various patents incorporated herein by reference. The unique and novel aspects of various embodiments of the present invention serve to utilize the rotary output motions supplied by the robotic system to generate specific control motions having sufficient magnitudes that enable end effectors to cut and staple tissue. Thus, the unique arrangements and principles of various embodiments of the present invention may enable a variety of different forms of the tool systems disclosed and claimed herein to be effectively employed in connection with other types and forms of robotic systems that supply programmed rotary or other output motions. In addition, as will become further apparent as the present Detailed Description proceeds, various end effector embodiments of the present invention that require other forms of actuation motions may also be effectively actuated utilizing one or more of the control motions generated by the robotic system.
FIGS. 117-121 illustrate yet another surgical tool 12300 that may be effectively employed in connection with the robotic system 11000 that has a tool drive assembly that is operably coupled to a controller of the robotic system that is operable by inputs from an operator and which is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly. In various forms, the surgical tool 12300 includes a surgical end effector 12312 that includes an elongated channel 12322 and a pivotally translatable clamping member, such as an anvil 12324, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12312. As shown in the illustrated embodiment, the surgical end effector 12312 may include, in addition to the previously-mentioned elongated channel 12322 and anvil 12324, a cutting instrument 12332 that has a sled portion 12333 formed thereon, a surgical staple cartridge 12334 that is seated in the elongated channel 12322, and a rotary end effector drive shaft 12336 that has a helical screw thread formed thereon. The cutting instrument 12332 may be, for example, a knife. As will be discussed in further detail below, rotation of the end effector drive shaft 12336 will cause the cutting instrument 12332 and sled portion 12333 to axially travel through the surgical staple cartridge 12334 to move between a starting position and an ending position. The direction of axial travel of the cutting instrument 12332 depends upon the direction in which the end effector drive shaft 12336 is rotated. The anvil 12324 may be pivotably opened and closed at a pivot point 12325 connected to the proximate end of the elongated channel 12322. The anvil 12324 may also include a tab 12327 at its proximate end that operably interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 12324. When the end effector drive shaft 12336 is rotated, the cutting instrument 12332 and sled 12333 will travel longitudinally through the surgical staple cartridge 12334 from the starting position to the ending position, thereby cutting tissue clamped within the surgical end effector 12312. The movement of the sled 12333 through the surgical staple cartridge 12334 causes the staples therein to be driven through the severed tissue and against the closed anvil 12324, which turns the staples to fasten the severed tissue. In one form, the elongated channel 12322 and the anvil 12324 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 12334 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12334, as described above.
It should be noted that although the embodiments of the surgical tool 12300 described herein employ a surgical end effector 12312 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled “Electrosurgical Hemostatic Device” to Yates et al., and U.S. Pat. No. 5,688,270, entitled “Electrosurgical Hemostatic Device With Recessed And/Or Offset Electrodes” to Yates et al., which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811 , now U.S. Pat. No. 7,673,783, to Morgan et al. and U.S. patent application Ser. No. 11/267,383 , now U.S. Pat. No. 7,607,557, to Shelton et al., which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.
In the illustrated embodiment, the surgical end effector 12312 is coupled to an elongated shaft assembly 12308 that is coupled to a tool mounting portion 12460 and defines a longitudinal tool axis LT-LT. In this embodiment, the elongated shaft assembly 12308 does not include an articulation joint. Those of ordinary skill in the art will understand that other embodiments may have an articulation joint therein. In at least one embodiment, the elongated shaft assembly 12308 comprises a hollow outer tube 12340 that is rotatably supported on a tool mounting plate 12462 of a tool mounting portion 12460 as will be discussed in further detail below. In various embodiments, the elongated shaft assembly 12308 further includes a distal spine shaft 12350. Distal spine shaft 12350 has a distal end portion 12354 that is coupled to, or otherwise integrally formed with, a distal stationary base portion 12360 that is non-movably coupled to the channel 12322. See FIGS. 118-120.
As shown in FIG. 115, the distal spine shaft 12350 has a proximal end portion 12351 that is slidably received within a slot 12355 in a proximal spine shaft 12353 that is non-movably supported within the hollow outer tube 12340 by at least one support collar 12357. As can be further seen in FIGS. 118 and 119, the surgical tool 12300 includes a closure tube 12370 that is constrained to only move axially relative to the distal stationary base portion 12360. The closure tube 12370 has a proximal end 12372 that has an internal thread 12374 formed therein that is in threaded engagement with a transmission arrangement, generally depicted as 12375 that is operably supported on the tool mounting plate 12462. In various forms, the transmission arrangement 12375 includes a rotary drive shaft assembly, generally designated as 12381. When rotated, the rotary drive shaft assembly 12381 will cause the closure tube 12370 to move axially as will be describe in further detail below. In at least one form, the rotary drive shaft assembly 12381 includes a closure drive nut 12382 of a closure clutch assembly generally designated as 12380. More specifically, the closure drive nut 12382 has a proximal end portion 12384 that is rotatably supported relative to the outer tube 12340 and is in threaded engagement with the closure tube 12370. For assembly purposes, the proximal end portion 12384 may be threadably attached to a retention ring 12386. Retention ring 12386, in cooperation with an end 12387 of the closure drive nut 12382, defines an annular slot 12388 into which a shoulder 12392 of a locking collar 12390 extends. The locking collar 12390 is non-movably attached (e.g., welded, glued, etc.) to the end of the outer tube 12340. Such arrangement serves to affix the closure drive nut 12382 to the outer tube 12340 while enabling the closure drive nut 12382 to rotate relative to the outer tube 12340. The closure drive nut 12382 further has a distal end 12383 that has a threaded portion 12385 that threadably engages the internal thread 12374 of the closure tube 12370. Thus, rotation of the closure drive nut 12382 will cause the closure tube 12370 to move axially as represented by arrow “D” in FIG. 119.
Closure of the anvil 12324 and actuation of the cutting instrument 12332 are accomplished by control motions that are transmitted by a hollow drive sleeve 12400. As can be seen in FIGS. 118 and 119, the hollow drive sleeve 12400 is rotatably and slidably received on the distal spine shaft 12350. The drive sleeve 12400 has a proximal end portion 12401 that is rotatably mounted to the proximal spine shaft 12353 that protrudes from the tool mounting portion 12460 such that the drive sleeve 12400 may rotate relative thereto. See FIG. 118. As can also be seen in FIGS. 118-120, the drive sleeve 12400 is rotated about the longitudinal tool axis “LT-LT” by a drive shaft 12440. The drive shaft 12440 has a drive gear 12444 that is attached to its distal end 12442 and is in meshing engagement with a driven gear 12450 that is attached to the drive sleeve 12400.
The drive sleeve 12400 further has a distal end portion 12402 that is coupled to a closure clutch 12410 portion of the closure clutch assembly 12380 that has a proximal face 12412 and a distal face 12414. The proximal face 12412 has a series of proximal teeth 12416 formed thereon that are adapted for selective engagement with corresponding proximal teeth cavities 12418 formed in the proximal end portion 12384 of the closure drive nut 12382. Thus, when the proximal teeth 12416 are in meshing engagement with the proximal teeth cavities 12418 in the closure drive nut 12382, rotation of the drive sleeve 12400 will result in rotation of the closure drive nut 12382 and ultimately cause the closure tube 12370 to move axially as will be discussed in further detail below.
As can be most particularly seen in FIGS. 118 and 119, the distal face 12414 of the drive clutch portion 12410 has a series of distal teeth 12415 formed thereon that are adapted for selective engagement with corresponding distal teeth cavities 12426 formed in a face plate portion 12424 of a knife drive shaft assembly 12420. In various embodiments, the knife drive shaft assembly 12420 comprises a hollow knife shaft segment 12430 that is rotatably received on a corresponding portion of the distal spine shaft 12350 that is attached to or protrudes from the stationary base 12360. When the distal teeth 12415 of the closure clutch portion 12410 are in meshing engagement with the distal teeth cavities 12426 in the face plate portion 12424, rotation of the drive sleeve 12400 will result in rotation of the drive shaft segment 12430 about the stationary shaft 12350. As can be seen in FIGS. 118-120, a knife drive gear 12432 is attached to the drive shaft segment 12430 and is meshing engagement with a drive knife gear 12434 that is attached to the end effector drive shaft 12336. Thus, rotation of the drive shaft segment 12430 will result in the rotation of the end effector drive shaft 12336 to drive the cutting instrument 12332 and sled 12333 distally through the surgical staple cartridge 12334 to cut and staple tissue clamped within the surgical end effector 12312. The sled 12333 may be made of, for example, plastic, and may have a sloped distal surface. As the sled 12333 traverses the elongated channel 12322, the sloped forward surface of the sled 12333 pushes up or “drive” the staples in the surgical staple cartridge 12334 through the clamped tissue and against the anvil 12324. The anvil 12324 turns or “forms” the staples, thereby stapling the severed tissue. As used herein, the term “fire” refers to the initiation of actions required to drive the cutting instrument and sled portion in a distal direction through the surgical staple cartridge to cut the tissue clamped in the surgical end effector and drive the staples through the severed tissue.
In use, it may be desirable to rotate the surgical end effector 12312 about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement 12375 includes a rotational transmission assembly 12465 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12308 (and surgical end effector 12312) about the longitudinal tool axis LT-LT. As can be seen in FIG. 121, a proximal end 12341 of the outer tube 12340 is rotatably supported within a cradle arrangement 12343 attached to the tool mounting plate 12462 of the tool mounting portion 12460. A rotation gear 12345 is formed on or attached to the proximal end 12341 of the outer tube 12340 of the elongated shaft assembly 12308 for meshing engagement with a rotation gear assembly 12470 operably supported on the tool mounting plate 12462. In at least one embodiment, a rotation drive gear 12472 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool drive assembly 11010. See FIGS. 105 and 121. The rotation drive assembly 12470 further comprises a rotary driven gear 12474 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with the rotation gear 12345 and the rotation drive gear 12472. Application of a first rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 12472 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 12472 ultimately results in the rotation of the elongated shaft assembly 12308 (and the end effector 12312) about the longitudinal tool axis LT-LT (primary rotary motion).
Closure of the anvil 12324 relative to the staple cartridge 12034 is accomplished by axially moving the closure tube 12370 in the distal direction “DD”. Axial movement of the closure tube 12370 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12382. To apply the rotary control motion to the closure drive nut 12382, the closure clutch 12410 must first be brought into meshing engagement with the proximal end portion 12384 of the closure drive nut 12382. In various embodiments, the transmission arrangement 12375 further includes a shifter drive assembly 12480 that is operably supported on the tool mounting plate 12462. More specifically and with reference to FIG. 121, it can be seen that a proximal end portion 12359 of the proximal spine portion 12353 extends through the rotation gear 12345 and is rotatably coupled to a shifter gear rack 12481 that is slidably affixed to the tool mounting plate 12462 through slots 12482. The shifter drive assembly 12480 further comprises a shifter drive gear 12483 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool holder 11270. See FIGS. 105 and 121. The shifter drive assembly 12480 further comprises a shifter driven gear 12478 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with the shifter drive gear 12483 and the shifter rack gear 12482. Application of a second rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the shifter drive gear 12483 by virtue of being operably coupled thereto. Rotation of the shifter drive gear 12483 ultimately results in the axial movement of the shifter gear rack 12482 and the proximal spine portion 12353 as well as the drive sleeve 12400 and the closure clutch 12410 attached thereto. The direction of axial travel of the closure clutch 12410 depends upon the direction in which the shifter drive gear 12483 is rotated by the robotic system 11000. Thus, rotation of the shifter drive gear 12483 in a first rotary direction will result in the axial movement of the closure clutch 12410 in the proximal direction “PD” to bring the proximal teeth 12416 into meshing engagement with the proximal teeth cavities 12418 in the closure drive nut 12382. Conversely, rotation of the shifter drive gear 12483 in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the closure clutch 12410 in the distal direction “DD” to bring the distal teeth 12415 into meshing engagement with corresponding distal teeth cavities 12426 formed in the face plate portion 12424 of the knife drive shaft assembly 12420.
Once the closure clutch 12410 has been brought into meshing engagement with the closure drive nut 12382, the closure drive nut 12382 is rotated by rotating the closure clutch 12410. Rotation of the closure clutch 12410 is controlled by applying rotary output motions to a rotary drive transmission portion 12490 of transmission arrangement 12375 that is operably supported on the tool mounting plate 12462 as shown in FIG. 121. In at least one embodiment, the rotary drive transmission 12490 includes a rotary drive assembly 12490′ that includes a gear 12491 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12460 is coupled to the tool holder 11270. See FIGS. 105 and 121. The rotary drive transmission 12490 further comprises a first rotary driven gear 12492 that is rotatably supported on the tool mounting plate 12462 in meshing engagement with a second rotary driven gear 12493 and the rotary drive gear 12491. The second rotary driven gear 12493 is coupled to a proximal end portion 12443 of the drive shaft 12440.
Rotation of the rotary drive gear 12491 in a first rotary direction will result in the rotation of the drive shaft 12440 in a first direction. Conversely, rotation of the rotary drive gear 12491 in a second rotary direction (opposite to the first rotary direction) will cause the drive shaft 12440 to rotate in a second direction. As indicated above, the drive shaft 12440 has a drive gear 12444 that is attached to its distal end 12442 and is in meshing engagement with a driven gear 12450 that is attached to the drive sleeve 12400. Thus, rotation of the drive shaft 12440 results in rotation of the drive sleeve 12400.
A method of operating the surgical tool 12300 will now be described. Once the tool mounting portion 12462 has been operably coupled to the tool holder 11270 of the robotic system 11000 and oriented into position adjacent the target tissue to be cut and stapled, if the anvil 12334 is not already in the open position (FIG. 118), the robotic system 11000 may apply the first rotary output motion to the shifter drive gear 12483 which results in the axial movement of the closure clutch 12410 into meshing engagement with the closure drive nut 12382 (if it is not already in meshing engagement therewith). See FIG. 119. Once the controller 11001 of the robotic system 11000 has confirmed that the closure clutch 12410 is meshing engagement with the closure drive nut 12382 (e.g., by means of sensor(s)) in the surgical end effector 12312 that are in communication with the robotic control system), the robotic controller 11001 may then apply a second rotary output motion to the rotary drive gear 12492 which, as was described above, ultimately results in the rotation of the rotary drive nut 12382 in the first direction which results in the axial travel of the closure tube 12370 in the distal direction “DD”. As the closure tube 12370 moved in the distal direction, it contacts a portion of the anvil 12323 and causes the anvil 12324 to pivot to the closed position to clamp the target tissue between the anvil 12324 and the surgical staple cartridge 12334. Once the robotic controller 11001 determines that the anvil 12334 has been pivoted to the closed position by corresponding sensor(s) in the surgical end effector 12312 in communication therewith, the robotic system 11000 discontinues the application of the second rotary output motion to the rotary drive gear 12491. The robotic controller 11001 may also provide the surgeon with an indication that the anvil 12334 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 11001. The robotic controller 11001 then applies the primary rotary control motion 12483 to the shifter drive gear 12483 which results in the axial movement of the closure clutch 12410 into meshing engagement with the face plate portion 12424 of the knife drive shaft assembly 12420. See FIG. 120. Once the controller 11001 of the robotic system 11000 has confirmed that the closure clutch 12410 is meshing engagement with the face plate portion 12424 (by means of sensor(s)) in the end effector 12312 that are in communication with the robotic controller 11001), the robotic controller 11001 may then apply the second rotary output motion to the rotary drive gear 12492 which, as was described above, ultimately results in the axial movement of the cutting instrument 12332 and sled portion 12333 in the distal direction “DD” through the surgical staple cartridge 12334. As the cutting instrument 12332 moves distally through the surgical staple cartridge 12334, the tissue clamped therein is severed. As the sled portion 12333 is driven distally, it causes the staples within the surgical staple cartridge to be driven through the severed tissue into forming contact with the anvil 12324. Once the robotic controller 11001 has determined that the cutting instrument 12324 has reached the end position within the surgical staple cartridge 12334 (by means of sensor(s)) in the end effector 12312 that are in communication with the robotic controller 11001), the robotic controller 11001 discontinues the application of the second rotary output motion to the rotary drive gear 12491. Thereafter, the robotic controller 11001 applies the secondary rotary output motion to the rotary drive gear 12491 which ultimately results in the axial travel of the cutting instrument 12332 and sled portion 12333 in the proximal direction “PD” to the starting position. Once the robotic controller 11001 has determined that the cutting instrument 12324 has reached the staring position by means of sensor(s) in the surgical end effector 12312 that are in communication with the robotic controller 11001, the robotic controller 11001 discontinues the application of the secondary rotary output motion to the rotary drive gear 12491. Thereafter, the robotic controller 11001 applies the primary rotary output motion to the shifter drive gear 12483 to cause the closure clutch 12410 to move into engagement with the rotary drive nut 12382. Once the closure clutch 12410 has been moved into meshing engagement with the rotary drive nut 12382, the robotic controller 11001 then applies the secondary output motion to the rotary drive gear 12491 which ultimately results in the rotation of the rotary drive nut 12382 in the second direction to cause the closure tube 12370 to move in the proximal direction “PD”. As can be seen in FIGS. 118-120, the closure tube 12370 has an opening 12345 therein that engages the tab 12327 on the anvil 12324 to cause the anvil 12324 to pivot to the open position. In alternative embodiments, a spring may also be employed to pivot the anvil 12324 to the open position when the closure tube 12370 has been returned to the starting position (FIG. 118).
FIGS. 122-126 illustrate yet another surgical tool 12500 that may be effectively employed in connection with the robotic system 11000. In various forms, the surgical tool 12500 includes a surgical end effector 12512 that includes a “first portion” in the form of an elongated channel 12522 and a “second movable portion” in the form of a pivotally translatable clamping member, such as an anvil 12524, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12512. As shown in the illustrated embodiment, the surgical end effector 12512 may include, in addition to the previously-mentioned elongated channel 12522 and anvil 12524, a “third movable portion” in the form of a cutting instrument 12532, a sled (not shown), and a surgical staple cartridge 12534 that is removably seated in the elongated channel 12522. The cutting instrument 12532 may be, for example, a knife. The anvil 12524 may be pivotably opened and closed at a pivot point 12525 connected to the proximate end of the elongated channel 12522. The anvil 12524 may also include a tab 12527 at its proximate end that is configured to operably interface with a component of the mechanical closure system (described further below) to open and close the anvil 12524. When actuated, the knife 12532 and sled travel longitudinally along the elongated channel 12522, thereby cutting tissue clamped within the surgical end effector 12512. The movement of the sled along the elongated channel 12522 causes the staples of the surgical staple cartridge 12534 to be driven through the severed tissue and against the closed anvil 12524, which turns the staples to fasten the severed tissue. In one form, the elongated channel 12522 and the anvil 12524 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge 12534 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12534, as described above.
It should be noted that although the embodiments of the surgical tool 12500 described herein employ a surgical end effector 12512 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled “Electrosurgical Hemostatic Device” to Yates et al., and U.S. Pat. No. 5,688,270, entitled “Electrosurgical Hemostatic Device With Recessed And/Or Offset Electrodes” to Yates et al., which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783, to Morgan et al. and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, to Shelton et al., which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.
In the illustrated embodiment, the elongated channel 12522 of the surgical end effector 12512 is coupled to an elongated shaft assembly 12508 that is coupled to a tool mounting portion 12600. In at least one embodiment, the elongated shaft assembly 12508 comprises a hollow spine tube 12540 that is non-movably coupled to a tool mounting plate 12602 of the tool mounting portion 12600. As can be seen in FIGS. 123 and 124, the proximal end 12523 of the elongated channel 12522 comprises a hollow tubular structure configured to be attached to the distal end 12541 of the spine tube 12540. In one embodiment, for example, the proximal end 12523 of the elongated channel 12522 is welded or glued to the distal end of the spine tube 12540.
As can be further seen in FIGS. 123 and 124, in at least one non-limiting embodiment, the surgical tool 12500 further includes an axially movable actuation member in the form of a closure tube 12550 that is constrained to move axially relative to the elongated channel 12522 and the spine tube 12540. The closure tube 12550 has a proximal end 12552 that has an internal thread 12554 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 12560. More specifically, the closure drive nut 12560 has a proximal end portion 12562 that is rotatably supported relative to the elongated channel 12522 and the spine tube 12540. For assembly purposes, the proximal end portion 12562 is threadably attached to a retention ring 12570. The retention ring 12570 is received in a groove 12529 formed between a shoulder 12527 on the proximal end 12523 of the elongated channel 12522 and the distal end 12541 of the spine tube 12540. Such arrangement serves to rotatably support the closure drive nut 12560 within the elongated channel 12522. Rotation of the closure drive nut 12560 will cause the closure tube 12550 to move axially as represented by arrow “D” in FIG. 123.
Extending through the spine tube 12540 and the closure drive nut 12560 is a drive member which, in at least one embodiment, comprises a knife bar 12580 that has a distal end portion 12582 that is rotatably coupled to the cutting instrument 12532 such that the knife bar 12580 may rotate relative to the cutting instrument 12582. As can be seen in FIG. 123-125, the closure drive nut 12560 has a slot 12564 therein through which the knife bar 12580 can slidably extend. Such arrangement permits the knife bar 12580 to move axially relative to the closure drive nut 12560. However, rotation of the knife bar 12580 about the longitudinal tool axis LT-LT will also result in the rotation of the closure drive nut 12560. The axial direction in which the closure tube 12550 moves ultimately depends upon the direction in which the knife bar 12580 and the closure drive nut 12560 are rotated. As the closure tube 12550 is driven distally, the distal end thereof will contact the anvil 12524 and cause the anvil 12524 to pivot to a closed position. Upon application of an opening rotary output motion from the robotic system 11000, the closure tube 12550 will be driven in the proximal direction “PD” and pivot the anvil 12524 to the open position by virtue of the engagement of the tab 12527 with the opening 12555 in the closure tube 12550.
In use, it may be desirable to rotate the surgical end effector 12512 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 12600 is configured to receive a corresponding first rotary output motion from the robotic system 11000 and convert that first rotary output motion to a rotary control motion for rotating the elongated shaft assembly 12508 about the longitudinal tool axis LT-LT. As can be seen in FIG. 121, a proximal end 12542 of the hollow spine tube 12540 is rotatably supported within a cradle arrangement 12603 attached to a tool mounting plate 12602 of the tool mounting portion 12600. Various embodiments of the surgical tool 12500 further include a transmission arrangement, generally depicted as 12605, that is operably supported on the tool mounting plate 12602. In various forms the transmission arrangement 12605 include a rotation gear 12544 that is formed on or attached to the proximal end 12542 of the spine tube 12540 for meshing engagement with a rotation drive assembly 12610 that is operably supported on the tool mounting plate 12602. In at least one embodiment, a rotation drive gear 12612 is coupled to a corresponding first one of the rotational bodies, driven discs or elements 11304 on the adapter side of the tool mounting plate 12602 when the tool mounting portion 12600 is coupled to the tool holder 11270. See FIGS. 105 and 126. The rotation drive assembly 12610 further comprises a rotary driven gear 12614 that is rotatably supported on the tool mounting plate 12602 in meshing engagement with the rotation gear 12544 and the rotation drive gear 12612. Application of a first rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven rotational body 11304 will thereby cause rotation of the rotation drive gear 12612 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 12612 ultimately results in the rotation of the elongated shaft assembly 12508 (and the end effector 12512) about the longitudinal tool axis LT-LT.
Closure of the anvil 12524 relative to the surgical staple cartridge 12534 is accomplished by axially moving the closure tube 12550 in the distal direction “DD”. Axial movement of the closure tube 12550 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12382. In various embodiments, the closure drive nut 12560 is rotated by applying a rotary output motion to the knife bar 12580. Rotation of the knife bar 12580 is controlled by applying rotary output motions to a rotary closure system 12620 that is operably supported on the tool mounting plate 12602 as shown in FIG. 126. In at least one embodiment, the rotary closure system 12620 includes a closure drive gear 12622 that is coupled to a corresponding second one of the driven rotatable body portions discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12600 is coupled to the tool holder 11270. See FIGS. 105 and 126. The closure drive gear 12622, in at least one embodiment, is in meshing driving engagement with a closure gear train, generally depicted as 12623. The closure gear drive rain 12623 comprises a first driven closure gear 12624 that is rotatably supported on the tool mounting plate 12602. The first closure driven gear 12624 is attached to a second closure driven gear 12626 by a drive shaft 12628. The second closure driven gear 12626 is in meshing engagement with a third closure driven gear 12630 that is rotatably supported on the tool mounting plate 12602. Rotation of the closure drive gear 12622 in a second rotary direction will result in the rotation of the third closure driven gear 12630 in a second direction. Conversely, rotation of the closure drive gear 12483 in a secondary rotary direction (opposite to the second rotary direction) will cause the third closure driven gear 12630 to rotate in a secondary direction.
As can be seen in FIG. 126, a drive shaft assembly 12640 is coupled to a proximal end of the knife bar 12580. In various embodiments, the drive shaft assembly 12640 includes a proximal portion 12642 that has a square cross-sectional shape. The proximal portion 12642 is configured to slidably engage a correspondingly shaped aperture in the third driven gear 12630. Such arrangement results in the rotation of the drive shaft assembly 12640 (and knife bar 12580) when the third driven gear 12630 is rotated. The drive shaft assembly 12640 is axially advanced in the distal and proximal directions by a knife drive assembly 12650. One form of the knife drive assembly 12650 comprises a rotary drive gear 12652 that is coupled to a corresponding third one of the driven rotatable body portions, discs or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12600 is coupled to the tool holder 11270. See FIGS. 105 and 126. The rotary driven gear 12652 is in meshing driving engagement with a gear train, generally depicted as 12653. In at least one form, the gear train 12653 further comprises a first rotary driven gear assembly 12654 that is rotatably supported on the tool mounting plate 12602. The first rotary driven gear assembly 12654 is in meshing engagement with a third rotary driven gear assembly 12656 that is rotatably supported on the tool mounting plate 12602 and which is in meshing engagement with a fourth rotary driven gear assembly 12658 that is in meshing engagement with a threaded portion 12644 of the drive shaft assembly 12640. Rotation of the rotary drive gear 12652 in a third rotary direction will result in the axial advancement of the drive shaft assembly 12640 and knife bar 12580 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 12652 in a tertiary rotary direction (opposite to the third rotary direction) will cause the drive shaft assembly 12640 and the knife bar 12580 to move in the proximal direction.
A method of operating the surgical tool 12500 will now be described. Once the tool mounting portion 12600 has been operably coupled to the tool holder 11270 of the robotic system 11000, the robotic system 11000 can orient the surgical end effector 12512 in position adjacent the target tissue to be cut and stapled. If the anvil 12524 is not already in the open position (FIG. 123), the robotic system 11000 may apply the second rotary output motion to the closure drive gear 12622 which results in the rotation of the knife bar 12580 in a second direction. Rotation of the knife bar 12580 in the second direction results in the rotation of the closure drive nut 12560 in a second direction. As the closure drive nut 12560 rotates in the second direction, the closure tube 12550 moves in the proximal direction “PD”. As the closure tube 12550 moves in the proximal direction “PD”, the tab 12527 on the anvil 12524 interfaces with the opening 12555 in the closure tube 12550 and causes the anvil 12524 to pivot to the open position. In addition or in alternative embodiments, a spring (not shown) may be employed to pivot the anvil 12354 to the open position when the closure tube 12550 has been returned to the starting position (FIG. 123). The opened surgical end effector 12512 may then be manipulated by the robotic system 11000 to position the target tissue between the open anvil 12524 and the surgical staple cartridge 12534. Thereafter, the surgeon may initiate the closure process by activating the robotic control system 11000 to apply the second rotary output motion to the closure drive gear 12622 which, as was described above, ultimately results in the rotation of the closure drive nut 12382 in the second direction which results in the axial travel of the closure tube 12250 in the distal direction “DD”. As the closure tube 12550 moves in the distal direction, it contacts a portion of the anvil 12524 and causes the anvil 12524 to pivot to the closed position to clamp the target tissue between the anvil 12524 and the staple cartridge 12534. Once the robotic controller 11001 determines that the anvil 12524 has been pivoted to the closed position by corresponding sensor(s) in the end effector 12512 that are in communication therewith, the robotic controller 11001 discontinues the application of the second rotary output motion to the closure drive gear 12622. The robotic controller 11001 may also provide the surgeon with an indication that the anvil 12524 has been fully closed. The surgeon may then initiate the firing procedure. In alternative embodiments, the firing procedure may be automatically initiated by the robotic controller 11001.
After the robotic controller 11001 has determined that the anvil 12524 is in the closed position, the robotic controller 11001 then applies the third rotary output motion to the rotary drive gear 12652 which results in the axial movement of the drive shaft assembly 12640 and knife bar 12580 in the distal direction “DD”. As the cutting instrument 12532 moves distally through the surgical staple cartridge 12534, the tissue clamped therein is severed. As the sled portion (not shown) is driven distally, it causes the staples within the surgical staple cartridge 12534 to be driven through the severed tissue into forming contact with the anvil 12524. Once the robotic controller 11001 has determined that the cutting instrument 12532 has reached the end position within the surgical staple cartridge 12534 by means of sensor(s) in the surgical end effector 12512 that are in communication with the robotic controller 11001, the robotic controller 11001 discontinues the application of the second rotary output motion to the rotary drive gear 12652. Thereafter, the robotic controller 11001 applies the secondary rotary control motion to the rotary drive gear 12652 which ultimately results in the axial travel of the cutting instrument 12532 and sled portion in the proximal direction “PD” to the starting position. Once the robotic controller 1001 has determined that the cutting instrument 12524 has reached the staring position by means of sensor(s) in the end effector 12512 that are in communication with the robotic controller 11001, the robotic controller 11001 discontinues the application of the secondary rotary output motion to the rotary drive gear 12652. Thereafter, the robotic controller 11001 may apply the secondary rotary output motion to the closure drive gear 12622 which results in the rotation of the knife bar 12580 in a secondary direction. Rotation of the knife bar 12580 in the secondary direction results in the rotation of the closure drive nut 12560 in a secondary direction. As the closure drive nut 12560 rotates in the secondary direction, the closure tube 12550 moves in the proximal direction “PD” to the open position.
FIGS. 127-132B illustrate yet another surgical tool 12700 that may be effectively employed in connection with the robotic system 11000. In various forms, the surgical tool 12700 includes a surgical end effector 12712 that includes a “first portion” in the form of an elongated channel 12722 and a “second movable portion” in on form comprising a pivotally translatable clamping member, such as an anvil 12724, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 12712. As shown in the illustrated embodiment, the surgical end effector 12712 may include, in addition to the previously-mentioned channel 12722 and anvil 12724, a “third movable portion” in the form of a cutting instrument 12732, a sled (not shown), and a surgical staple cartridge 12734 that is removably seated in the elongated channel 12722. The cutting instrument 12732 may be, for example, a knife. The anvil 12724 may be pivotably opened and closed at a pivot point 12725 connected to the proximal end of the elongated channel 12722. The anvil 12724 may also include a tab 12727 at its proximal end that interfaces with a component of the mechanical closure system (described further below) to open and close the anvil 12724. When actuated, the knife 12732 and sled to travel longitudinally along the elongated channel 12722, thereby cutting tissue clamped within the surgical end effector 12712. The movement of the sled along the elongated channel 12722 causes the staples of the surgical staple cartridge 12734 to be driven through the severed tissue and against the closed anvil 12724, which turns the staples to fasten the severed tissue. In one form, the elongated channel 12722 and the anvil 12724 may be made of an electrically conductive material (such as metal) so that they may serve as part of the antenna that communicates with sensor(s) in the surgical end effector, as described above. The surgical staple cartridge 12734 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 12734, as described above.
It should be noted that although the embodiments of the surgical tool 12500 described herein employ a surgical end effector 12712 that staples the severed tissue, in other embodiments different techniques for fastening or sealing the severed tissue may be used. For example, end effectors that use RF energy or adhesives to fasten the severed tissue may also be used. U.S. Pat. No. 5,709,680, entitled “Electrosurgical Hemostatic Device” to Yates et al., and U.S. Pat. No. 5,688,270, entitled “Electrosurgical Hemostatic Device With Recessed And/Or Offset Electrodes” to Yates et al., which are incorporated herein by reference, discloses cutting instruments that use RF energy to fasten the severed tissue. U.S. patent application Ser. No. 11/267,811, now U.S. Pat. No. 7,673,783, to Morgan et al. and U.S. patent application Ser. No. 11/267,383, now U.S. Pat. No. 7,607,557, to Shelton et al., which are also incorporated herein by reference, disclose cutting instruments that use adhesives to fasten the severed tissue. Accordingly, although the description herein refers to cutting/stapling operations and the like, it should be recognized that this is an exemplary embodiment and is not meant to be limiting. Other tissue-fastening techniques may also be used.
In the illustrated embodiment, the elongated channel 12722 of the surgical end effector 12712 is coupled to an elongated shaft assembly 12708 that is coupled to a tool mounting portion 12900. Although not shown, the elongated shaft assembly 12708 may include an articulation joint to permit the surgical end effector 12712 to be selectively articulated about an axis that is substantially transverse to the tool axis LT-LT. In at least one embodiment, the elongated shaft assembly 12708 comprises a hollow spine tube 12740 that is non-movably coupled to a tool mounting plate 12902 of the tool mounting portion 12900. As can be seen in FIGS. 128 and 129, the proximal end 12723 of the elongated channel 12722 comprises a hollow tubular structure that is attached to the spine tube 12740 by means of a mounting collar 12790. A cross-sectional view of the mounting collar 12790 is shown in FIG. 130. In various embodiments, the mounting collar 12790 has a proximal flanged end 12791 that is configured for attachment to the distal end of the spine tube 12740. In at least one embodiment, for example, the proximal flanged end 12791 of the mounting collar 12790 is welded or glued to the distal end of the spine tube 12740. As can be further seen in FIGS. 128 and 129, the mounting collar 12790 further has a mounting hub portion 12792 that is sized to receive the proximal end 12723 of the elongated channel 12722 thereon. The proximal end 12723 of the elongated channel 12722 is non-movably attached to the mounting hub portion 12792 by, for example, welding, adhesive, etc.
As can be further seen in FIGS. 128 and 129, the surgical tool 12700 further includes an axially movable actuation member in the form of a closure tube 12750 that is constrained to move axially relative to the elongated channel 12722. The closure tube 12750 has a proximal end 12752 that has an internal thread 12754 formed therein that is in threaded engagement with a rotatably movable portion in the form of a closure drive nut 12760. More specifically, the closure drive nut 12760 has a proximal end portion 12762 that is rotatably supported relative to the elongated channel 12722 and the spine tube 12740. For assembly purposes, the proximal end portion 12762 is threadably attached to a retention ring 12770. The retention ring 12770 is received in a groove 12729 formed between a shoulder 12727 on the proximal end 12723 of the channel 12722 and the mounting hub 12729 of the mounting collar 12790. Such arrangement serves to rotatably support the closure drive nut 12760 within the channel 12722. Rotation of the closure drive nut 12760 will cause the closure tube 12750 to move axially as represented by arrow “D” in FIG. 128.
Extending through the spine tube 12740, the mounting collar 12790, and the closure drive nut 12760 is a drive member, which in at least one embodiment, comprises a knife bar 12780 that has a distal end portion 12782 that is coupled to the cutting instrument 12732. As can be seen in FIGS. 128 and 129, the mounting collar 12790 has a passage 12793 therethrough for permitting the knife bar 12780 to slidably pass therethrough. Similarly, the closure drive nut 12760 has a slot 12764 therein through which the knife bar 12780 can slidably extend. Such arrangement permits the knife bar 12780 to move axially relative to the closure drive nut 12760.
Actuation of the anvil 12724 is controlled by a rotary driven closure shaft 12800. As can be seen in FIGS. 128 and 129, a distal end portion 12802 of the closure drive shaft 12800 extends through a passage 12794 in the mounting collar 12790 and a closure gear 12804 is attached thereto. The closure gear 12804 is configured for driving engagement with the inner surface 12761 of the closure drive nut 12760. Thus, rotation of the closure shaft 12800 will also result in the rotation of the closure drive nut 12760. The axial direction in which the closure tube 12750 moves ultimately depends upon the direction in which the closure shaft 12800 and the closure drive nut 12760 are rotated. For example, in response to one rotary closure motion received from the robotic system 11000, the closure tube 12750 will be driven in the distal direction “DD”. As the closure tube 12750 is driven distally, the opening 12745 will engage the tab 12727 on the anvil 12724 and cause the anvil 12724 to pivot to a closed position. Upon application of an opening rotary motion from the robotic system 11000, the closure tube 12750 will be driven in the proximal direction “PD” and pivot the anvil 12724 to the open position. In various embodiments, a spring (not shown) may be employed to bias the anvil 12724 to the open position (FIG. 128).
In use, it may be desirable to rotate the surgical end effector 12712 about the longitudinal tool axis LT-LT. In at least one embodiment, the tool mounting portion 12900 is configured to receive a corresponding first rotary output motion from the robotic system 11000 for rotating the elongated shaft assembly 12708 about the tool axis LT-LT. As can be seen in FIG. 132, a proximal end 12742 of the hollow spine tube 12740 is rotatably supported within a cradle arrangement 12903 and a bearing assembly 12904 that are attached to a tool mounting plate 12902 of the tool mounting portion 12900. A rotation gear 12744 is formed on or attached to the proximal end 12742 of the spine tube 12740 for meshing engagement with a rotation drive assembly 12910 that is operably supported on the tool mounting plate 12902. In at least one embodiment, a rotation drive gear 12912 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 12602 when the tool mounting portion 12600 is coupled to the tool holder 11270. See FIGS. 105 and 132. The rotation drive assembly 12910 further comprises a rotary driven gear 12914 that is rotatably supported on the tool mounting plate 12902 in meshing engagement with the rotation gear 12744 and the rotation drive gear 12912. Application of a first rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 12912 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 12912 ultimately results in the rotation of the elongated shaft assembly 12708 (and the end effector 2712) about the longitudinal tool axis LT-LT (primary rotary motion).
Closure of the anvil 12724 relative to the staple cartridge 12734 is accomplished by axially moving the closure tube 12750 in the distal direction “DD”. Axial movement of the closure tube 12750 in the distal direction “DD” is accomplished by applying a rotary control motion to the closure drive nut 12760. In various embodiments, the closure drive nut 12760 is rotated by applying a rotary output motion to the closure drive shaft 12800. As can be seen in FIG. 132, a proximal end portion 12806 of the closure drive shaft 12800 has a driven gear 12808 thereon that is in meshing engagement with a closure drive assembly 12920. In various embodiments, the closure drive system 12920 includes a closure drive gear 12922 that is coupled to a corresponding second one of the driven rotational bodies or elements 11304 on the adapter side of the tool mounting plate 12462 when the tool mounting portion 12900 is coupled to the tool holder 11270. See FIGS. 105 and 132. The closure drive gear 12922 is supported in meshing engagement with a closure gear train, generally depicted as 12923. In at least one form, the closure gear rain 12923 comprises a first driven closure gear 12924 that is rotatably supported on the tool mounting plate 12902. The first closure driven gear 12924 is attached to a second closure driven gear 12926 by a drive shaft 12928. The second closure driven gear 12926 is in meshing engagement with a planetary gear assembly 12930. In various embodiments, the planetary gear assembly 12930 includes a driven planetary closure gear 12932 that is rotatably supported within the bearing assembly 12904 that is mounted on tool mounting plate 12902. As can be seen in FIGS. 132 and 132B, the proximal end portion 12806 of the closure drive shaft 12800 is rotatably supported within the proximal end portion 12742 of the spine tube 12740 such that the driven gear 12808 is in meshing engagement with central gear teeth 12934 formed on the planetary gear 12932. As can also be seen in FIG. 132A, two additional support gears 12936 are attached to or rotatably supported relative to the proximal end portion 12742 of the spine tube 12740 to provide bearing support thereto. Such arrangement with the planetary gear assembly 12930 serves to accommodate rotation of the spine shaft 12740 by the rotation drive assembly 12910 while permitting the closure driven gear 12808 to remain in meshing engagement with the closure drive system 12920. In addition, rotation of the closure drive gear 12922 in a first direction will ultimately result in the rotation of the closure drive shaft 12800 and closure drive nut 12760 which will ultimately result in the closure of the anvil 12724 as described above. Conversely, rotation of the closure drive gear 12922 in a second opposite direction will ultimately result in the rotation of the closure drive nut 12760 in an opposite direction which results in the opening of the anvil 12724.
As can be seen in FIG. 126, the proximal end 12784 of the knife bar 12780 has a threaded shaft portion 12786 attached thereto which is in driving engagement with a knife drive assembly 12940. In various embodiments, the threaded shaft portion 12786 is rotatably supported by a bearing 12906 attached to the tool mounting plate 12902. Such arrangement permits the threaded shaft portion 12786 to rotate and move axially relative to the tool mounting plate 12902. The knife bar 12780 is axially advanced in the distal and proximal directions by the knife drive assembly 12940. One form of the knife drive assembly 12940 comprises a rotary drive gear 12942 that is coupled to a corresponding third one of the rotatable bodies, driven discs or elements 11304 on the adapter side of the tool mounting plate 12902 when the tool mounting portion 12900 is coupled to the tool holder 11270. See FIGS. 105 and 132. The rotary drive gear 12942 is in meshing engagement with a knife gear train, generally depicted as 12943. In various embodiments, the knife gear train 12943 comprises a first rotary driven gear assembly 12944 that is rotatably supported on the tool mounting plate 12902. The first rotary driven gear assembly 12944 is in meshing engagement with a third rotary driven gear assembly 12946 that is rotatably supported on the tool mounting plate 12902 and which is in meshing engagement with a fourth rotary driven gear assembly 12948 that is in meshing engagement with the threaded portion 12786 of the knife bar 12780. Rotation of the rotary drive gear 12942 in one direction will result in the axial advancement of the knife bar 12780 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 12942 in an opposite direction will cause the knife bar 12780 to move in the proximal direction. Tool 12700 may otherwise be used as described above.
FIGS. 133 and 134 illustrate a surgical tool embodiment 12700′ that is substantially identical to tool 12700 that was described in detail above. However tool 12700′ includes a pressure sensor 12950 that is configured to provide feedback to the robotic controller 11001 concerning the amount of clamping pressure experienced by the anvil 12724. In various embodiments, for example, the pressure sensor may comprise a spring biased contact switch. For a continuous signal, it would use either a cantilever beam with a strain gage on it or a dome button top with a strain gage on the inside. Another version may comprise an off switch that contacts only at a known desired load. Such arrangement would include a dome on the based wherein the dome is one electrical pole and the base is the other electrical pole. Such arrangement permits the robotic controller 11001 to adjust the amount of clamping pressure being applied to the tissue within the surgical end effector 12712 by adjusting the amount of closing pressure applied to the anvil 12724. Those of ordinary skill in the art will understand that such pressure sensor arrangement may be effectively employed with several of the surgical tool embodiments described herein as well as their equivalent structures.
FIG. 135 illustrates a portion of another surgical tool 13000 that may be effectively used in connection with a robotic system 11000. The surgical tool 13003 employs on-board motor(s) for powering various components of a surgical end effector cutting instrument. In at least one non-limiting embodiment for example, the surgical tool 13000 includes a surgical end effector in the form of an endocutter (not shown) that has an anvil (not shown) and surgical staple cartridge arrangement (not shown) of the types and constructions described above. The surgical tool 13000 also includes an elongated shaft (not shown) and anvil closure arrangement (not shown) of the types described above. Thus, this portion of the Detailed Description will not repeat the description of those components beyond that which is necessary to appreciate the unique and novel attributes of the various embodiments of surgical tool 13000.
In the depicted embodiment, the end effector includes a cutting instrument 13002 that is coupled to a knife bar 13003. As can be seen in FIG. 135, the surgical tool 13000 includes a tool mounting portion 13010 that includes a tool mounting plate 13012 that is configured to mountingly interface with the adaptor portion 11240′ which is coupled to the robotic system 11000 in the various manners described above. The tool mounting portion 13010 is configured to operably support a transmission arrangement 13013 thereon. In at least one embodiment, the adaptor portion 11240′ may be identical to the adaptor portion 11240 described in detail above without the powered rotation bodies and disc members employed by adapter 11240. In other embodiments, the adaptor portion 11240′ may be identical to adaptor portion 11240. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions (i.e., rotary motion(s)) from the tool holder portion 11270 (as described hereinabove) to power/actuate the transmission arrangement 13013 while also employing one or more motors within the tool mounting portion 13010 to power one or more other components of the surgical end effector. In addition, while the end effector of the depicted embodiment comprises an endocutter, those of ordinary skill in the art will understand that the unique and novel attributes of the depicted embodiment may be effectively employed in connection with other types of surgical end effectors without departing from the spirit and scope of various forms of the present invention.
In various embodiments, the tool mounting plate 13012 is configured to at least house a first firing motor 13011 for supplying firing and retraction motions to the knife bar 13003 which is coupled to or otherwise operably interfaces with the cutting instrument 13002. The tool mounting plate 13012 has an array of electrical connecting pins 13014 which are configured to interface with the slots 11258 (FIG. 104) in the adapter 11240′. Such arrangement permits the controller 11001 of the robotic system 11000 to provide control signals to the electronic control circuit 13020 of the surgical tool 13000. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
Control circuit 13020 is shown in schematic form in FIG. 135. In one form or embodiment, the control circuit 13020 includes a power supply in the form of a battery 13022 that is coupled to an on-off solenoid powered switch 13024. Control circuit 13020 further includes an on/off firing solenoid 13026 that is coupled to a double pole switch 13028 for controlling the rotational direction of the motor 13011. Thus, when the controller 11001 of the robotic system 11000 supplies an appropriate control signal, switch 13024 will permit battery 13022 to supply power to the double pole switch 13028. The controller 11001 of the robotic system 11000 will also supply an appropriate signal to the double pole switch 13028 to supply power to the motor 13011. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 13002 distally through tissue clamped in the surgical end effector, the double pole switch 13028 will be in a first position. When it is desired to retract the cutting instrument 13002 to the starting position, the double pole switch 13028 will be moved to the second position by the controller 11001.
Various embodiments of the surgical tool 13000 also employ a gear box 13030 that is sized, in cooperation with a firing gear train 13031 that, in at least one non-limiting embodiment, comprises a firing drive gear 13032 that is in meshing engagement with a firing driven gear 13034 for generating a desired amount of driving force necessary to drive the cutting instrument 13002 through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in FIG. 135, the driven gear 13034 is coupled to a screw shaft 13036 that is in threaded engagement with a screw nut arrangement 13038 that is constrained to move axially (represented by arrow “D”). The screw nut arrangement 13038 is attached to the firing bar 13003. Thus, by rotating the screw shaft 13036 in a first direction, the cutting instrument 13002 is driven in the distal direction “DD” and rotating the screw shaft in an opposite second direction, the cutting instrument 13002 may be retracted in the proximal direction “PD”.
FIG. 136 illustrates a portion of another surgical tool 13000′ that is substantially identical to tool 13000 described above, except that the driven gear 13034 is attached to a drive shaft 13040. The drive shaft 13040 is attached to a second driver gear 13042 that is in meshing engagement with a third driven gear 13044 that is in meshing engagement with a screw 13046 coupled to the firing bar 13003.
FIG. 137 illustrates another surgical tool 13200 that may be effectively used in connection with a robotic system 11000. In this embodiment, the surgical tool 13200 includes a surgical end effector 13212 that in one non-limiting form, comprises a component portion that is selectively movable between first and second positions relative to at least one other end effector component portion. As will be discussed in further detail below, the surgical tool 13200 employs on-board motors for powering various components of a transmission arrangement 13305. The surgical end effector 13212 includes an elongated channel 13222 that operably supports a surgical staple cartridge 13234. The elongated channel 13222 has a proximal end 13223 that slidably extends into a hollow elongated shaft assembly 13208 that is coupled to a tool mounting portion 13300. In addition, the surgical end effector 13212 includes an anvil 13224 that is pivotally coupled to the elongated channel 13222 by a pair of trunnions 13225 that are received within corresponding openings 13229 in the elongated channel 13222. A distal end portion 13209 of the shaft assembly 13208 includes an opening 13245 into which a tab 13227 on the anvil 13224 is inserted in order to open the anvil 13224 as the elongated channel 13222 is moved axially in the proximal direction “PD” relative to the distal end portion 13209 of the shaft assembly 13208. In various embodiments, a spring (not shown) may be employed to bias the anvil 13224 to the open position.
As indicated above, the surgical tool 13200 includes a tool mounting portion 13300 that includes a tool mounting plate 13302 that is configured to operably support the transmission arrangement 13305 and to mountingly interface with the adaptor portion 11240′ which is coupled to the robotic system 11000 in the various manners described above. In at least one embodiment, the adaptor portion 11240′ may be identical to the adaptor portion 11240 described in detail above without the powered disc members employed by adapter 11240. In other embodiments, the adaptor portion 11240′ may be identical to adaptor portion 11240. However, in such embodiments, because the various components of the surgical end effector 13212 are all powered by motor(s) in the tool mounting portion 13300, the surgical tool 13200 will not employ or require any of the mechanical (i.e., non-electrical) actuation motions from the tool holder portion 11270 to power the surgical end effector 13200 components. Still other modifications which are considered to be within the spirit and scope of the various forms of the present invention may employ one or more of the mechanical motions from the tool holder portion 11270 (as described hereinabove) to power/actuate one or more of the surgical end effector components while also employing one or more motors within the tool mounting portion to power one or more other components of the surgical end effector.
In various embodiments, the tool mounting plate 13302 is configured to support a first firing motor 13310 for supplying firing and retraction motions to the transmission arrangement 13305 to drive a knife bar 13335 that is coupled to a cutting instrument 13332 of the type described above. As can be seen in FIG. 137, the tool mounting plate 13212 has an array of electrical connecting pins 13014 which are configured to interface with the slots 11258 (FIG. 104) in the adapter 11240′. Such arrangement permits the controller 11001 of the robotic system 11000 to provide control signals to the electronic control circuits 13320, 13340 of the surgical tool 13200. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
In one form or embodiment, the first control circuit 13320 includes a first power supply in the form of a first battery 13322 that is coupled to a first on-off solenoid powered switch 13324. The first firing control circuit 13320 further includes a first on/off firing solenoid 13326 that is coupled to a first double pole switch 13328 for controlling the rotational direction of the first firing motor 13310. Thus, when the robotic controller 11001 supplies an appropriate control signal, the first switch 13324 will permit the first battery 13322 to supply power to the first double pole switch 13328. The robotic controller 11001 will also supply an appropriate signal to the first double pole switch 13328 to supply power to the first firing motor 13310. When it is desired to fire the surgical end effector (i.e., drive the cutting instrument 13232 distally through tissue clamped in the surgical end effector 13212, the first switch 13328 will be positioned in a first position by the robotic controller 11001. When it is desired to retract the cutting instrument 13232 to the starting position, the robotic controller 11001 will send the appropriate control signal to move the first switch 13328 to the second position.
Various embodiments of the surgical tool 13200 also employ a first gear box 13330 that is sized, in cooperation with a firing drive gear 13332 coupled thereto that operably interfaces with a firing gear train 13333. In at least one non-limiting embodiment, the firing gear train 13333 comprises a firing driven gear 13334 that is in meshing engagement with drive gear 13332, for generating a desired amount of driving force necessary to drive the cutting instrument 13232 through tissue and to drive and form staples in the various manners described herein. In the embodiment depicted in FIG. 137, the driven gear 13334 is coupled to a drive shaft 13335 that has a second driven gear 13336 coupled thereto. The second driven gear 13336 is supported in meshing engagement with a third driven gear 13337 that is in meshing engagement with a fourth driven gear 13338. The fourth driven gear 13338 is in meshing engagement with a threaded proximal portion 13339 of the knife bar 13235 that is constrained to move axially. Thus, by rotating the drive shaft 13335 in a first direction, the cutting instrument 13232 is driven in the distal direction “DD” and rotating the drive shaft 13335 in an opposite second direction, the cutting instrument 13232 may be retracted in the proximal direction “PD”.
As indicated above, the opening and closing of the anvil 13224 is controlled by axially moving the elongated channel 13222 relative to the elongated shaft assembly 13208. The axial movement of the elongated channel 13222 is controlled by a closure control system 13339. In various embodiments, the closure control system 13339 includes a closure shaft 13340 which has a hollow threaded end portion 13341 that threadably engages a threaded closure rod 13342. The threaded end portion 13341 is rotatably supported in a spine shaft 13343 that operably interfaces with the tool mounting portion 13300 and extends through a portion of the shaft assembly 13208 as shown. The closure system 13339 further comprises a closure control circuit 13350 that includes a second power supply in the form of a second battery 13352 that is coupled to a second on-off solenoid powered switch 13354. Closure control circuit 13350 further includes a second on/off firing solenoid 13356 that is coupled to a second double pole switch 13358 for controlling the rotation of a second closure motor 13360. Thus, when the robotic controller 11001 supplies an appropriate control signal, the second switch 13354 will permit the second battery 13352 to supply power to the second double pole switch 13354. The robotic controller 11001 will also supply an appropriate signal to the second double pole switch 13358 to supply power to the second motor 13360. When it is desired to close the anvil 13224, the second switch 13348 will be in a first position. When it is desired to open the anvil 13224, the second switch 13348 will be moved to a second position.
Various embodiments of tool mounting portion 13300 also employ a second gear box 13362 that is coupled to a closure drive gear 13364. The closure drive gear 13364 is in meshing engagement with a closure gear train 13363. In various non-limiting forms, the closure gear train 13363 includes a closure driven gear 13365 that is attached to a closure drive shaft 13366. Also attached to the closure drive shaft 13366 is a closure drive gear 13367 that is in meshing engagement with a closure shaft gear 13360 attached to the closure shaft 13340. FIG. 137 depicts the end effector 13212 in the open position. As indicated above, when the threaded closure rod 13342 is in the position depicted in FIG. 137, a spring (not shown) biases the anvil 13224 to the open position. When it is desired to close the anvil 13224, the robotic controller 11001 will activate the second motor 13360 to rotate the closure shaft 13340 to draw the threaded closure rod 13342 and the channel 13222 in the proximal direction ‘PD’. As the anvil 13224 contacts the distal end portion 13209 of the shaft 13208, the anvil 13224 is pivoted to the closed position.
A method of operating the surgical tool 13200 will now be described. Once the tool mounting portion 13302 has be operably coupled to the tool holder 11270 of the robotic system 11000, the robotic system 11000 can orient the end effector 13212 in position adjacent the target tissue to be cut and stapled. If the anvil 13224 is not already in the open position, the robotic controller 11001 may activate the second closure motor 13360 to drive the channel 13222 in the distal direction to the position depicted in FIG. 137. Once the robotic controller 11001 determines that the surgical end effector 13212 is in the open position by sensor(s) in the and effector and/or the tool mounting portion 13300, the robotic controller 11001 may provide the surgeon with a signal to inform the surgeon that the anvil 13224 may then be closed. Once the target tissue is positioned between the open anvil 13224 and the surgical staple cartridge 13234, the surgeon may then commence the closure process by activating the robotic controller 11001 to apply a closure control signal to the second closure motor 13360. The second closure motor 13360 applies a rotary motion to the closure shaft 13340 to draw the channel 13222 in the proximal direction “PD” until the anvil 13224 has been pivoted to the closed position. Once the robotic controller 11001 determines that the anvil 13224 has been moved to the closed position by sensor(s) in the surgical end effector 13212 and/or in the tool mounting portion 13300 that are in communication with the robotic control system, the motor 13360 may be deactivated. Thereafter, the firing process may be commenced either manually by the surgeon activating a trigger, button, etc. on the controller 11001 or the controller 11001 may automatically commence the firing process.
To commence the firing process, the robotic controller 11001 activates the firing motor 13310 to drive the firing bar 13235 and the cutting instrument 13232 in the distal direction “DD”. Once robotic controller 11001 has determined that the cutting instrument 13232 has moved to the ending position within the surgical staple cartridge 13234 by means of sensors in the surgical end effector 13212 and/or the motor drive portion 13300, the robotic controller 11001 may provide the surgeon with an indication signal. Thereafter the surgeon may manually activate the first motor 13310 to retract the cutting instrument 13232 to the starting position or the robotic controller 11001 may automatically activate the first motor 13310 to retract the cutting element 13232.
The embodiment depicted in FIG. 137 does not include an articulation joint. FIGS. 138 and 139 illustrate surgical tools 13200′ and 13200″ that have end effectors 13212′, 13212″, respectively that may be employed with an elongated shaft embodiment that has an articulation joint of the various types disclosed herein. For example, as can be seen in FIG. 138, a threaded closure shaft 13342 is coupled to the proximal end 13223 of the elongated channel 13222 by a flexible cable or other flexible member 13345. The location of an articulation joint (not shown) within the elongated shaft assembly 13208 will coincide with the flexible member 13345 to enable the flexible member 13345 to accommodate such articulation. In addition, in the above-described embodiment, the flexible member 13345 is rotatably affixed to the proximal end portion 13223 of the elongated channel 13222 to enable the flexible member 13345 to rotate relative thereto to prevent the flexible member 13229 from “winding up” relative to the channel 13222. Although not shown, the cutting element may be driven in one of the above described manners by a knife bar that can also accommodate articulation of the elongated shaft assembly. FIG. 139 depicts a surgical end effector 13212″ that is substantially identical to the surgical end effector 13212 described above, except that the threaded closure rod 13342 is attached to a closure nut 13347 that is constrained to only move axially within the elongated shaft assembly 13208. The flexible member 13345 is attached to the closure nut 13347. Such arrangement also prevents the threaded closure rod 13342 from winding-up the flexible member 13345. A flexible knife bar 13235′ may be employed to facilitate articulation of the surgical end effector 13212″.
The surgical tools 13200, 13200′, and 13200″ described above may also employ anyone of the cutting instrument embodiments described herein. As described above, the anvil of each of the end effectors of these tools is closed by drawing the elongated channel into contact with the distal end of the elongated shaft assembly. Thus, once the target tissue has been located between the staple cartridge 13234 and the anvil 13224, the robotic controller 11001 can start to draw the channel 13222 inward into the shaft assembly 13208. In various embodiments, however, to prevent the end effector 13212, 13212′, 13212″ from moving the target tissue with the end effector during this closing process, the controller 11001 may simultaneously move the tool holder and ultimately the tool such to compensate for the movement of the elongated channel 13222 so that, in effect, the target tissue is clamped between the anvil and the elongated channel without being otherwise moved.
FIGS. 140-142 depict another surgical tool embodiment 13201 that is substantially identical to surgical tool 13200″ described above, except for the differences discussed below. In this embodiment, the threaded closure rod 13342′ has variable pitched grooves. More specifically, as can be seen in FIG. 141, the closure rod 13342′ has a distal groove section 13380 and a proximal groove section 13382. The distal and proximal groove sections 13380, 13382 are configured for engagement with a lug 13390 supported within the hollow threaded end portion 13341′. As can be seen in FIG. 141, the distal groove section 13380 has a finer pitch than the groove section 13382. Thus, such variable pitch arrangement permits the elongated channel 13222 to be drawn into the shaft 13208 at a first speed or rate by virtue of the engagement between the lug 13390 and the proximal groove segment 13382. When the lug 13390 engages the distal groove segment, the channel 13222 will be drawn into the shaft 13208 at a second speed or rate. Because the proximal groove segment 13382 is coarser than the distal groove segment 13380, the first speed will be greater than the second speed. Such arrangement serves to speed up the initial closing of the end effector for tissue manipulation and then after the tissue has been properly positioned therein, generate the amount of closure forces to properly clamp the tissue for cutting and sealing. Thus, the anvil 13234 initially closes fast with a lower force and then applies a higher closing force as the anvil closes more slowly.
The surgical end effector opening and closing motions are employed to enable the user to use the end effector to grasp and manipulate tissue prior to fully clamping it in the desired location for cutting and sealing. The user may, for example, open and close the surgical end effector numerous times during this process to orient the end effector in a proper position which enables the tissue to be held in a desired location. Thus, in at least some embodiments, to produce the high loading for firing, the fine thread may require as many as 5-10 full rotations to generate the necessary load. In some cases, for example, this action could take as long as 2-5 seconds. If it also took an equally long time to open and close the end effector each time during the positioning/tissue manipulation process, just positioning the end effector may take an undesirably long time. If that happens, it is possible that a user may abandon such use of the end effector for use of a conventional grasper device. Use of graspers, etc. may undesirably increase the costs associated with completing the surgical procedure.
The above-described embodiments employ a battery or batteries to power the motors used to drive the end effector components. Activation of the motors is controlled by the robotic system 11000. In alternative embodiments, the power supply may comprise alternating current “AC” that is supplied to the motors by the robotic system 11000. That is, the AC power would be supplied from the system powering the robotic system 11000 through the tool holder and adapter. In still other embodiments, a power cord or tether may be attached to the tool mounting portion 13300 to supply the requisite power from a separate source of alternating or direct current.
In use, the controller 11001 may apply an initial rotary motion to the closure shaft 13340 (FIG. 137) to draw the elongated channel 13222 axially inwardly into the elongated shaft assembly 13208 and move the anvil from a first position to an intermediate position at a first rate that corresponds with the point wherein the distal groove section 13380 transitions to the proximal groove section 13382. Further application of rotary motion to the closure shaft 13340 will cause the anvil to move from the intermediate position to the closed position relative to the surgical staple cartridge. When in the closed position, the tissue to be cut and stapled is properly clamped between the anvil and the surgical staple cartridge.
FIGS. 143-147 illustrate another surgical tool embodiment 13400 of the present invention. This embodiment includes an elongated shaft assembly 13408 that extends from a tool mounting portion 13500. The elongated shaft assembly 13408 includes a rotatable proximal closure tube segment 13410 that is rotatably journaled on a proximal spine member 13420 that is rigidly coupled to a tool mounting plate 13502 of the tool mounting portion 13500. The proximal spine member 13420 has a distal end 13422 that is coupled to an elongated channel portion 13522 of a surgical end effector 13412. For example, in at least one embodiment, the elongated channel portion 13522 has a distal end portion 13523 that “hookingly engages” the distal end 13422 of the spine member 13420. The elongated channel 13522 is configured to support a surgical staple cartridge 13534 therein. This embodiment may employ one of the various cutting instrument embodiments disclosed herein to sever tissue that is clamped in the surgical end effector 13412 and fire the staples in the staple cartridge 13534 into the severed tissue.
Surgical end effector 13412 has an anvil 13524 that is pivotally coupled to the elongated channel 13522 by a pair of trunnions 13525 that are received in corresponding openings 13529 in the elongated channel 13522. The anvil 13524 is moved between the open (FIG. 143) and closed positions (FIGS. 144-146) by a distal closure tube segment 13430. A distal end portion 13432 of the distal closure tube segment 13430 includes an opening 13445 into which a tab 13527 on the anvil 13524 is inserted in order to open and close the anvil 13524 as the distal closure tube segment 13430 moves axially relative thereto. In various embodiments, the opening 13445 is shaped such that as the closure tube segment 13430 is moved in the proximal direction, the closure tube segment 13430 causes the anvil 13524 to pivot to an open position. In addition or in the alternative, a spring (not shown) may be employed to bias the anvil 13524 to the open position.
As can be seen in FIGS. 143-146, the distal closure tube segment 13430 includes a lug 13442 that extends from its distal end 13440 into threaded engagement with a variable pitch groove/thread 13414 formed in the distal end 13412 of the rotatable proximal closure tube segment 13410. The variable pitch groove/thread 13414 has a distal section 13416 and a proximal section 13418. The pitch of the distal groove/thread section 13416 is finer than the pitch of the proximal groove/thread section 13418. As can also be seen in FIGS. 143-146, the distal closure tube segment 13430 is constrained for axial movement relative to the spine member 13420 by an axial retainer pin 13450 that is received in an axial slot 13424 in the distal end of the spine member 13420.
As indicated above, the anvil 12524 is open and closed by rotating the proximal closure tube segment 13410. The variable pitch thread arrangement permits the distal closure tube segment 13430 to be driven in the distal direction “DD” at a first speed or rate by virtue of the engagement between the lug 13442 and the proximal groove/thread section 13418. When the lug 13442 engages the distal groove/thread section 13416, the distal closure tube segment 13430 will be driven in the distal direction at a second speed or rate. Because the proximal groove/thread section 13418 is coarser than the distal groove/thread segment 13416, the first speed will be greater than the second speed.
In at least one embodiment, the tool mounting portion 13500 is configured to receive a corresponding first rotary motion from the robotic controller 11001 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube segment 13410 about a longitudinal tool axis LT-LT. As can be seen in FIG. 147, a proximal end 13460 of the proximal closure tube segment 13410 is rotatably supported within a cradle arrangement 13504 attached to a tool mounting plate 13502 of the tool mounting portion 13500. A rotation gear 13462 is formed on or attached to the proximal end 13460 of the closure tube segment 13410 for meshing engagement with a rotation drive assembly 13470 that is operably supported on the tool mounting plate 13502. In at least one embodiment, a rotation drive gear 13472 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13502 when the tool mounting portion 13500 is coupled to the tool holder 11270. See FIGS. 105 and 146. The rotation drive assembly 13470 further comprises a rotary driven gear 13474 that is rotatably supported on the tool mounting plate 13502 in meshing engagement with the rotation gear 13462 and the rotation drive gear 13472. Application of a first rotary control motion from the robotic controller 11001 through the tool holder 11270 and the adapter 11240 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 13472 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 13472 ultimately results in the rotation of the closure tube segment 13410 to open and close the anvil 13524 as described above.
As indicated above, the surgical end effector 13412 employs a cutting instrument of the type and constructions described above. FIG. 147 illustrates one form of knife drive assembly 13480 for axially advancing a knife bar 13492 that is attached to such cutting instrument. One form of the knife drive assembly 13480 comprises a rotary drive gear 13482 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13502 when the tool drive portion 13500 is coupled to the tool holder 11270. See FIGS. 105 and 147. The knife drive assembly 13480 further comprises a first rotary driven gear assembly 13484 that is rotatably supported on the tool mounting plate 15200. The first rotary driven gear assembly 13484 is in meshing engagement with a third rotary driven gear assembly 13486 that is rotatably supported on the tool mounting plate 13502 and which is in meshing engagement with a fourth rotary driven gear assembly 13488 that is in meshing engagement with a threaded portion 13494 of drive shaft assembly 13490 that is coupled to the knife bar 13492. Rotation of the rotary drive gear 13482 in a second rotary direction will result in the axial advancement of the drive shaft assembly 13490 and knife bar 13492 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 13482 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 13490 and the knife bar 13492 to move in the proximal direction.
FIGS. 148-157 illustrate another surgical tool 13600 embodiment of the present invention that may be employed in connection with a robotic system 11000. As can be seen in FIG. 148, the tool 13600 includes an end effector in the form of a disposable loading unit 13612. Various forms of disposable loading units that may be employed in connection with tool 13600 are disclosed, for example, in U.S. Patent Application Publication No. US 2009/0206131 A1, entitled “End Effector Arrangements For a Surgical Cutting and Stapling Instrument”, the disclosure of which is herein incorporated by reference in its entirety.
In at least one form, the disposable loading unit 13612 includes an anvil assembly 13620 that is supported for pivotal travel relative to a carrier 13630 that operably supports a staple cartridge 13640 therein. A mounting assembly 13650 is pivotally coupled to the cartridge carrier 13630 to enable the carrier 13630 to pivot about an articulation axis AA-AA relative to a longitudinal tool axis LT-LT. Referring to FIG. 153, mounting assembly 13650 includes upper and lower mounting portions 13652 and 13654. Each mounting portion includes a threaded bore 13656 on each side thereof dimensioned to receive threaded bolts (not shown) for securing the proximal end of carrier 13630 thereto. A pair of centrally located pivot members 13658 extends between upper and lower mounting portions via a pair of coupling members 13660 which engage a distal end of a housing portion 13662. Coupling members 13660 each include an interlocking proximal portion 13664 configured to be received in grooves 13666 formed in the proximal end of housing portion 13662 to retain mounting assembly 13650 and housing portion 13662 in a longitudinally fixed position in relation thereto.
In various forms, housing portion 13662 of disposable loading unit 13614 includes an upper housing half 13670 and a lower housing half 13672 contained within an outer casing 13674. The proximal end of housing half 13670 includes engagement nubs 13676 for releasably engaging an elongated shaft 13700 and an insertion tip 13678. Nubs 13676 form a bayonet-type coupling with the distal end of the elongated shaft 13700 which will be discussed in further detail below. Housing halves 13670, 13672 define a channel 13675 for slidably receiving axial drive assembly 13680. A second articulation link 13690 is dimensioned to be slidably positioned within a slot 13679 formed between housing halves 13670, 13672. A pair of blow out plates 13691 are positioned adjacent the distal end of housing portion 13662 adjacent the distal end of axial drive assembly 13680 to prevent outward bulging of drive assembly 13680 during articulation of carrier 13630.
In various embodiments, the second articulation link 13690 includes at least one elongated metallic plate. Preferably, two or more metallic plates are stacked to form link 13690. The proximal end of articulation link 13690 includes a hook portion 13692 configured to engage first articulation link 13710 extending through the elongated shaft 13700. The distal end of the second articulation link 13690 includes a loop 13694 dimensioned to engage a projection formed on mounting assembly 13650. The projection is laterally offset from pivot pin 13658 such that linear movement of second articulation link 13690 causes mounting assembly 13650 to pivot about pivot pins 13658 to articulate the carrier 13630.
In various forms, axial drive assembly 13680 includes an elongated drive beam 13682 including a distal working head 13684 and a proximal engagement section 13685. Drive beam 13682 may be constructed from a single sheet of material or, preferably, multiple stacked sheets. Engagement section 13685 includes a pair of engagement fingers which are dimensioned and configured to mountingly engage a pair of corresponding retention slots formed in drive member 13686. Drive member 13686 includes a proximal porthole 13687 configured to receive the distal end 13722 of control rod 12720 (See FIG. 157) when the proximal end of disposable loading unit 13614 is engaged with elongated shaft 13700 of surgical tool 13600.
Referring to FIGS. 148 and 155-157, to use the surgical tool 13600, a disposable loading unit 13612 is first secured to the distal end of elongated shaft 13700. It will be appreciated that the surgical tool 13600 may include an articulating or a non-articulating disposable loading unit. To secure the disposable loading unit 13612 to the elongated shaft 13700, the distal end 13722 of control rod 13720 is inserted into insertion tip 13678 of disposable loading unit 13612, and insertion tip 13678 is slid longitudinally into the distal end of the elongated shaft 13700 in the direction indicated by arrow “A” in FIG. 155 such that hook portion 13692 of second articulation link 13690 slides within a channel 13702 in the elongated shaft 13700. Nubs 13676 will each be aligned in a respective channel (not shown) in elongated shaft 13700. When hook portion 13692 engages the proximal wall 13704 of channel 13702, disposable loading unit 13612 is rotated in the direction indicated by arrow “B” in FIGS. 154 and 157 to move hook portion 13692 of second articulation link 13690 into engagement with finger 13712 of first articulation link 13710. Nubs 13676 also form a “bayonet-type” coupling within annular channel 13703 in the elongated shaft 13700. During rotation of loading unit 13612, nubs 13676 engage cam surface 13732 (FIG. 155) of block plate 13730 to initially move plate 13730 in the direction indicated by arrow “C” in FIG. 155 to lock engagement member 13734 in recess 13721 of control rod 13720 to prevent longitudinal movement of control rod 13720 during attachment of disposable loading unit 13612. During the final degree of rotation, nubs 13676 disengage from cam surface 13732 to allow blocking plate 13730 to move in the direction indicated by arrow “D” in FIGS. 154 and 157 from behind engagement member 13734 to once again permit longitudinal movement of control rod 13720. While the above-described attachment method reflects that the disposable loading unit 13612 is manipulated relative to the elongated shaft 13700, the person of ordinary skill in the art will appreciate that the disposable loading unit 13612 may be supported in a stationary position and the robotic system 11000 may manipulate the elongated shaft portion 13700 relative to the disposable loading unit 13612 to accomplish the above-described coupling procedure.
FIG. 158 illustrates another disposable loading unit 13612′ that is attachable in a bayonet-type arrangement with the elongated shaft 13700′ that is substantially identical to shaft 13700 except for the differences discussed below. As can be seen in FIG. 158, the elongated shaft 13700′ has slots 13705 that extend for at least a portion thereof and which are configured to receive nubs 13676 therein. In various embodiments, the disposable loading unit 13612′ includes arms 13677 extending therefrom which, prior to the rotation of disposable loading unit 13612′, can be aligned, or at least substantially aligned, with nubs 13676 extending from housing portion 13662. In at least one embodiment, arms 13677 and nubs 13676 can be inserted into slots 13705 in elongated shaft 13700′, for example, when disposable loading unit 13612′ is inserted into elongated shaft 13700′. When disposable loading unit 13612′ is rotated, arms 13677 can be sufficiently confined within slots 13705 such that slots 13705 can hold them in position, whereas nubs 13676 can be positioned such that they are not confined within slots 13705 and can be rotated relative to arms 13677. When rotated, the hook portion 13692 of the articulation link 13690 is engaged with the first articulation link 13710 extending through the elongated shaft 13700′.
Other methods of coupling the disposable loading units to the end of the elongated shaft may be employed. For example, as shown in FIGS. 159 and 160, disposable loading unit 13612″ can include connector portion 13613 which can be configured to be engaged with connector portion 13740 of the elongated shaft 13700″. In at least one embodiment, connector portion 13613 can include at least one projection and/or groove which can be mated with at least one projection and/or groove of connector portion 13740. In at least one such embodiment, the connector portions can include co-operating dovetail portions. In various embodiments, the connector portions can be configured to interlock with one another and prevent, or at least inhibit, distal and/or proximal movement of disposable loading unit 13612″ along axis 13741. In at least one embodiment, the distal end of the axial drive assembly 13680′ can include aperture 13681 which can be configured to receive projection 13721 extending from control rod 13720′. In various embodiments, such an arrangement can allow disposable loading unit 13612″ to be assembled to elongated shaft 13700 in a direction which is not collinear with or parallel to axis 13741. Although not illustrated, axial drive assembly 13680′ and control rod 13720 can include any other suitable arrangement of projections and apertures to operably connect them to each other. Also in this embodiment, the first articulation link 13710 which can be operably engaged with second articulation link 13690.
As can be seen in FIGS. 148 and 161, the surgical tool 13600 includes a tool mounting portion 13750. The tool mounting portion 13750 includes a tool mounting plate 13751 that is configured for attachment to the tool drive assembly 11010. The tool mounting portion operably supported a transmission arrangement 13752 thereon. In use, it may be desirable to rotate the disposable loading unit 13612 about the longitudinal tool axis defined by the elongated shaft 13700. In at least one embodiment, the transmission arrangement 13752 includes a rotational transmission assembly 13753 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft 13700 (and the disposable loading unit 13612) about the longitudinal tool axis LT-LT. As can be seen in FIG. 161, a proximal end 13701 of the elongated shaft 13700 is rotatably supported within a cradle arrangement 13754 that is attached to the tool mounting plate 13751 of the tool mounting portion 13750. A rotation gear 13755 is formed on or attached to the proximal end 13701 of the elongated shaft 13700 for meshing engagement with a rotation gear assembly 13756 operably supported on the tool mounting plate 13751. In at least one embodiment, a rotation drive gear 13757 drivingly coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool drive assembly 11010. The rotation transmission assembly 13753 further comprises a rotary driven gear 13758 that is rotatably supported on the tool mounting plate 13751 in meshing engagement with the rotation gear 13755 and the rotation drive gear 13757. Application of a first rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 13757 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 13757 ultimately results in the rotation of the elongated shaft 13700 (and the disposable loading unit 13612) about the longitudinal tool axis LT-LT (primary rotary motion).
As can be seen in FIG. 161, a drive shaft assembly 13760 is coupled to a proximal end of the control rod 12720. In various embodiments, the control rod 12720 is axially advanced in the distal and proximal directions by a knife/closure drive transmission 13762. One form of the knife/closure drive assembly 13762 comprises a rotary drive gear 13763 that is coupled to a corresponding second one of the driven rotatable body portions, discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool holder 11270. The rotary driven gear 13763 is in meshing driving engagement with a gear train, generally depicted as 13764. In at least one form, the gear train 13764 further comprises a first rotary driven gear assembly 13765 that is rotatably supported on the tool mounting plate 13751. The first rotary driven gear assembly 13765 is in meshing engagement with a second rotary driven gear assembly 13766 that is rotatably supported on the tool mounting plate 13751 and which is in meshing engagement with a third rotary driven gear assembly 13767 that is in meshing engagement with a threaded portion 13768 of the drive shaft assembly 13760. Rotation of the rotary drive gear 13763 in a second rotary direction will result in the axial advancement of the drive shaft assembly 13760 and control rod 12720 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 13763 in a secondary rotary direction which is opposite to the second rotary direction will cause the drive shaft assembly 13760 and the control rod 12720 to move in the proximal direction. When the control rod 12720 moves in the distal direction, it drives the drive beam 13682 and the working head 13684 thereof distally through the surgical staple cartridge 13640. As the working head 13684 is driven distally, it operably engages the anvil 13620 to pivot it to a closed position.
The cartridge carrier 13630 may be selectively articulated about articulation axis AA-AA by applying axial articulation control motions to the first and second articulation links 13710 and 13690. In various embodiments, the transmission arrangement 13752 further includes an articulation drive 13770 that is operably supported on the tool mounting plate 13751. More specifically and with reference to FIG. 161, it can be seen that a proximal end portion 13772 of an articulation drive shaft 13771 configured to operably engage with the first articulation link 13710 extends through the rotation gear 13755 and is rotatably coupled to a shifter rack gear 13774 that is slidably affixed to the tool mounting plate 13751 through slots 13775. The articulation drive 13770 further comprises a shifter drive gear 13776 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 13751 when the tool mounting portion 13750 is coupled to the tool holder 11270. The articulation drive assembly 13770 further comprises a shifter driven gear 13778 that is rotatably supported on the tool mounting plate 13751 in meshing engagement with the shifter drive gear 13776 and the shifter rack gear 13774. Application of a third rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will thereby cause rotation of the shifter drive gear 13776 by virtue of being operably coupled thereto. Rotation of the shifter drive gear 13776 ultimately results in the axial movement of the shifter gear rack 13774 and the articulation drive shaft 13771. The direction of axial travel of the articulation drive shaft 13771 depends upon the direction in which the shifter drive gear 13776 is rotated by the robotic system 11000. Thus, rotation of the shifter drive gear 13776 in a first rotary direction will result in the axial movement of the articulation drive shaft 13771 in the proximal direction “PD” and cause the cartridge carrier 13630 to pivot in a first direction about articulation axis AA-AA. Conversely, rotation of the shifter drive gear 13776 in a second rotary direction (opposite to the first rotary direction) will result in the axial movement of the articulation drive shaft 13771 in the distal direction “DD” to thereby cause the cartridge carrier 13630 to pivot about articulation axis AA-AA in an opposite direction.
FIG. 162 illustrates yet another surgical tool 13800 embodiment of the present invention that may be employed with a robotic system 11000. As can be seen in FIG. 162, the surgical tool 13800 includes a surgical end effector 13812 in the form of an endocutter 13814 that employs various cable-driven components. Various forms of cable driven endocutters are disclosed, for example, in U.S. Pat. No. 7,726,537, entitled “Surgical Stapler With Universal Articulation and Tissue Pre-Clamp” and U.S. Patent Application Publication No. US 2008/0308603A1, entitled “Cable Driven Surgical Stapling and Cutting Instrument With Improved Cable Attachment Arrangements”, the disclosures of each are herein incorporated by reference in their respective entireties. Such endocutters 13814 may be referred to as a “disposable loading unit” because they are designed to be disposed of after a single use. However, the various unique and novel arrangements of various embodiments of the present invention may also be employed in connection with cable driven end effectors that are reusable.
As can be seen in FIG. 163, in at least one form, the endocutter 13814 includes an elongated channel 13822 that operably supports a surgical staple cartridge 13834 therein. An anvil 13824 is pivotally supported for movement relative to the surgical staple cartridge 13834. The anvil 13824 has a cam surface 13825 that is configured for interaction with a preclamping collar 13840 that is supported for axial movement relative thereto. The end effector 13814 is coupled to an elongated shaft assembly 13808 that is attached to a tool mounting portion 13900. In various embodiments, a closure cable 13850 is employed to move pre-clamping collar 13840 distally onto and over cam surface 13825 to close the anvil 13824 relative to the surgical staple cartridge 13834 and compress the tissue therebetween. Preferably, closure cable 13850 attaches to the pre-clamping collar 13840 at or near point 13841 and is fed through a passageway in anvil 13824 (or under a proximal portion of anvil 13824) and fed proximally through shaft 13808. Actuation of closure cable 13850 in the proximal direction “PD” forces pre-clamping collar 13840 distally against cam surface 13825 to close anvil 13824 relative to staple cartridge assembly 13834. A return mechanism, e.g., a spring, cable system or the like, may be employed to return pre-clamping collar 13840 to a pre-clamping orientation which re-opens the anvil 13824.
The elongated shaft assembly 13808 may be cylindrical in shape and define a channel 13811 which may be dimensioned to receive a tube adapter 13870. See FIG. 163. In various embodiments, the tube adapter 13870 may be slidingly received in friction-fit engagement with the internal channel of elongated shaft 13808. The outer surface of the tube adapter 13870 may further include at least one mechanical interface, e.g., a cutout or notch 13871, oriented to mate with a corresponding mechanical interface, e.g., a radially inwardly extending protrusion or detent (not shown), disposed on the inner periphery of internal channel 13811 to lock the tube adapter 13870 to the elongated shaft 13808. In various embodiments, the distal end of tube adapter 13870 may include a pair of opposing flanges 13872 a and 13872 b which define a cavity for pivotably receiving a pivot block 13873 therein. Each flange 13872 a and 13872 b may include an aperture 13874 a and 13874 b that is oriented to receive a pivot pin 13875 that extends through an aperture in pivot block 13873 to allow pivotable movement of pivot block 13873 about an axis that is perpendicular to longitudinal tool axis “LT-LT”. The channel 13822 may be formed with two upwardly extending flanges 13823 a, 13823 b that have apertures therein, which are dimensioned to receive a pivot pin 13827. In turn, pivot pin 13875 mounts through apertures in pivot block 13873 to permit rotation of the surgical end effector 13814 about the “Y” axis as needed during a given surgical procedure. Rotation of pivot block 13873 about pin 13875 along “Z” axis rotates the surgical end effector 13814 about the “Z” axis. See FIG. 163. Other methods of fastening the elongated channel 13822 to the pivot block 13873 may be effectively employed without departing from the spirit and scope of the present invention.
The surgical staple cartridge 13834 can be assembled and mounted within the elongated channel 13822 during the manufacturing or assembly process and sold as part of the surgical end effector 13812, or the surgical staple cartridge 13834 may be designed for selective mounting within the elongated channel 13822 as needed and sold separately, e.g., as a single use replacement, replaceable or disposable staple cartridge assembly. It is within the scope of this disclosure that the surgical end effector 13812 may be pivotally, operatively, or integrally attached, for example, to distal end 13809 of the elongated shaft assembly 13808 of a disposable surgical stapler. As is known, a used or spent disposable loading unit 13814 can be removed from the elongated shaft assembly 13808 and replaced with an unused disposable unit. The endocutter 13814 may also preferably include an actuator, preferably a dynamic clamping member 13860, a sled 13862, as well as staple pushers (not shown) and staples (not shown) once an unspent or unused cartridge 13834 is mounted in the elongated channel 13822. See FIG. 163.
In various embodiments, the dynamic clamping member 13860 is associated with, e.g., mounted on and rides on, or with or is connected to or integral with and/or rides behind sled 13862. It is envisioned that dynamic clamping member 13860 can have cam wedges or cam surfaces attached or integrally formed or be pushed by a leading distal surface thereof. In various embodiments, dynamic clamping member 13860 may include an upper portion 13863 having a transverse aperture 13864 with a pin 13865 mountable or mounted therein, a central support or upward extension 13866 and substantially T-shaped bottom flange 13867 which cooperate to slidingly retain dynamic clamping member 13860 along an ideal cutting path during longitudinal, distal movement of sled 13862. The leading cutting edge 13868, here, knife blade 13869, is dimensioned to ride within slot 13835 of staple cartridge assembly 13834 and separate tissue once stapled. As used herein, the term “knife assembly” may include the aforementioned dynamic clamping member 13860, knife 13869, and sled 13862 or other knife/beam/sled drive arrangements and cutting instrument arrangements. In addition, the various embodiments of the present invention may be employed with knife assembly/cutting instrument arrangements that may be entirely supported in the staple cartridge 13834 or partially supported in the staple cartridge 13834 and elongated channel 13822 or entirely supported within the elongated channel 13822.
In various embodiments, the dynamic clamping member 13860 may be driven in the proximal and distal directions by a cable drive assembly 13870. In one non-limiting form, the cable drive assembly comprises a pair of advance cables 13880, 13882 and a firing cable 13884. FIGS. 164 and 165 illustrate the cables 13880, 13882, 13884 in diagrammatic form. As can be seen in those Figures, a first advance cable 13880 is operably supported on a first distal cable transition support 13885 which may comprise, for example, a pulley, rod, capstan, etc. that is attached to the distal end of the elongated channel 13822 and a first proximal cable transition support 13886 which may comprise, for example, a pulley, rod, capstan, etc. that is operably supported by the elongated channel 13822. A distal end 13881 of the first advance cable 13880 is affixed to the dynamic clamping assembly 13860. The second advance cable 13882 is operably supported on a second distal cable transition support 13887 which may, for example, comprise a pulley, rod, capstan etc. that is mounted to the distal end of the elongated channel 13822 and a second proximal cable transition support 13888 which may, for example, comprise a pulley, rod, capstan, etc. mounted to the proximal end of the elongated channel 13822. The proximal end 13883 of the second advance cable 13882 may be attached to the dynamic clamping assembly 13860. Also in these embodiments, an endless firing cable 13884 is employed and journaled on a support 13889 that may comprise a pulley, rod, capstan, etc. mounted within the elongated shaft 13808. In one embodiment, the retract cable 13884 may be formed in a loop and coupled to a connector 13889′ that is fixedly attached to the first and second advance cables 13880, 13882.
Various non-limiting embodiments of the present invention include a cable drive transmission 13920 that is operably supported on a tool mounting plate 13902 of the tool mounting portion 13900. The tool mounting portion 13900 has an array of electrical connecting pins 13904 which are configured to interface with the slots 11258 (FIG. 104) in the adapter 11240′. Such arrangement permits the robotic system 11000 to provide control signals to a control circuit 13910 of the tool 13800. While the interface is described herein with reference to mechanical, electrical, and magnetic coupling elements, it should be understood that a wide variety of telemetry modalities might be used, including infrared, inductive coupling, or the like.
Control circuit 13910 is shown in schematic form in FIG. 162. In one form or embodiment, the control circuit 13910 includes a power supply in the form of a battery 13912 that is coupled to an on-off solenoid powered switch 13914. In other embodiments, however, the power supply may comprise a source of alternating current. Control circuit 13910 further includes an on/off solenoid 13916 that is coupled to a double pole switch 13918 for controlling motor rotation direction. Thus, when the robotic system 11000 supplies an appropriate control signal, switch 13914 will permit battery 13912 to supply power to the double pole switch 13918. The robotic system 11000 will also supply an appropriate signal to the double pole switch 13918 to supply power to a shifter motor 13922.
Turning to FIGS. 166-171, at least one embodiment of the cable drive transmission 13920 comprises a drive pulley 13930 that is operably mounted to a drive shaft 13932 that is attached to a driven element 11304 of the type and construction described above that is designed to interface with a corresponding drive element 11250 of the adapter 11240. See FIGS. 104 and 169. Thus, when the tool mounting portion 13900 is operably coupled to the tool holder 11270, the robot system 11000 can apply rotary motion to the drive pulley 13930 in a desired direction. A first drive member or belt 13934 drivingly engages the drive pulley 13930 and a second drive shaft 13936 that is rotatably supported on a shifter yoke 13940. The shifter yoke 13940 is operably coupled to the shifter motor 13922 such that rotation of the shaft 13923 of the shifter motor 13922 in a first direction will shift the shifter yoke in a first direction “FD” and rotation of the shifter motor shaft 13923 in a second direction will shift the shifter yoke 13940 in a second direction “SD”. Other embodiments of the present invention may employ a shifter solenoid arrangement for shifting the shifter yoke in said first and second directions.
As can be seen in FIGS. 166-169, a closure drive gear 13950 mounted to a second drive shaft 13936 and is configured to selectively mesh with a closure drive assembly, generally designated as 13951. Likewise a firing drive gear 13960 is also mounted to the second drive shaft 13936 and is configured to selectively mesh with a firing drive assembly generally designated as 13961. Rotation of the second drive shaft 13936 causes the closure drive gear 13950 and the firing drive gear 13960 to rotate. In one non-limiting embodiment, the closure drive assembly 13951 comprises a closure driven gear 13952 that is coupled to a first closure pulley 13954 that is rotatably supported on a third drive shaft 13956. The closure cable 13850 is drivingly received on the first closure pulley 13954 such that rotation of the closure driven gear 13952 will drive the closure cable 13850. Likewise, the firing drive assembly 13961 comprises a firing driven gear 13962 that is coupled to a first firing pulley 13964 that is rotatably supported on the third drive shaft 13956. The first and second driving pulleys 13954 and 13964 are independently rotatable on the third drive shaft 13956. The firing cable 13884 is drivingly received on the first firing pulley 13964 such that rotation of the firing driven gear 13962 will drive the firing cable 13884.
Also in various embodiments, the cable drive transmission 13920 further includes a braking assembly 13970. In at least one embodiment, for example, the braking assembly 13970 includes a closure brake 13972 that comprises a spring arm 13973 that is attached to a portion of the transmission housing 13971. The closure brake 13972 has a gear lug 13974 that is sized to engage the teeth of the closure driven gear 13952 as will be discussed in further detail below. The braking assembly 13970 further includes a firing brake 13976 that comprises a spring arm 13977 that is attached to another portion of the transmission housing 13971. The firing brake 13976 has a gear lug 13978 that is sized to engage the teeth of the firing driven gear 13962.
At least one embodiment of the surgical tool 13800 may be used as follows. The tool mounting portion 13900 is operably coupled to the interface 11240 of the robotic system 11000. The controller or control unit of the robotic system is operated to locate the tissue to be cut and stapled between the open anvil 13824 and the staple cartridge 13834. When in that initial position, the braking assembly 13970 has locked the closure driven gear 13952 and the firing driven gear 13962 such that they cannot rotate. That is, as shown in FIG. 167, the gear lug 13974 is in locking engagement with the closure driven gear 13952 and the gear lug 13978 is in locking engagement with the firing driven gear 13962. Once the surgical end effector 13814 has been properly located, the controller 11001 of the robotic system 11000 will provide a control signal to the shifter motor 13922 (or shifter solenoid) to move the shifter yoke 13940 in the first direction. As the shifter yoke 13940 is moved in the first direction, the closure drive gear 13950 moves the gear lug 13974 out of engagement with the closure driven gear 13952 as it moves into meshing engagement with the closure driven gear 13952. As can be seen in FIG. 166, when in that position, the gear lug 13978 remains in locking engagement with the firing driven gear 13962 to prevent actuation of the firing system. Thereafter, the robotic controller 11001 provides a first rotary actuation motion to the drive pulley 13930 through the interface between the driven element 11304 and the corresponding components of the tool holder 11240. As the drive pulley 13930 is rotated in the first direction, the closure cable 13850 is rotated to drive the preclamping collar 13840 into closing engagement with the cam surface 13825 of the anvil 13824 to move it to the closed position thereby clamping the target tissue between the anvil 13824 and the staple cartridge 13834. See FIG. 162. Once the anvil 13824 has been moved to the closed position, the robotic controller 11001 stops the application of the first rotary motion to the drive pulley 13930. Thereafter, the robotic controller 11001 may commence the firing process by sending another control signal to the shifter motor 13922 (or shifter solenoid) to cause the shifter yoke to move in the second direction “SD” as shown in FIG. 168. As the shifter yoke 13940 is moved in the second direction, the firing drive gear 13960 moves the gear lug 13978 out of engagement with the firing driven gear 13962 as it moves into meshing engagement with the firing driven gear 13962. As can be seen in FIG. 168, when in that position, the gear lug 13974 remains in locking engagement with the closure driven gear 13952 to prevent actuation of the closure system. Thereafter, the robotic controller 11001 is activated to provide the first rotary actuation motion to the drive pulley 13930 through the interface between the driven element 11304 and the corresponding components of the tool holder 11240. As the drive pulley 13930 is rotated in the first direction, the firing cable 13884 is rotated to drive the dynamic clamping member 13860 in the distal direction “DD” thereby firing the stapes and cutting the tissue clamped in the end effector 13814. Once the robotic system 11000 determines that the dynamic clamping member 13860 has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive pulley 13930, the controller 11001 may then apply a second rotary motion to the drive pulley 13930 to rotate the closure cable 13850 in an opposite direction to cause the dynamic clamping member 13860 to be retracted in the proximal direction “PD”. Once the dynamic clamping member has been retracted to the starting position, the application of the second rotary motion to the drive pulley 13930 is discontinued. Thereafter, the shifter motor 13922 (or shifter solenoid) is powered to move the shifter yoke 13940 to the closure position (FIG. 166). Once the closure drive gear 13950 is in meshing engagement with the closure driven gear 13952, the robotic controller 11001 may once again apply the second rotary motion to the drive pulley 13930. Rotation of the drive pulley 13930 in the second direction causes the closure cable 13850 to retract the preclamping collar 13840 out of engagement with the cam surface 13825 of the anvil 13824 to permit the anvil 13824 to move to an open position (by a spring or other means) to release the stapled tissue from the surgical end effector 13814.
FIG. 172 illustrates a surgical tool 14000 that employs a gear driven firing bar 14092 as shown in FIGS. 173-175. This embodiment includes an elongated shaft assembly 14008 that extends from a tool mounting portion 14100. The tool mounting portion 14100 includes a tool mounting plate 14102 that operable supports a transmission arrangement 14103 thereon. The elongated shaft assembly 14008 includes a rotatable proximal closure tube 14010 that is rotatably journaled on a proximal spine member 14020 that is rigidly coupled to the tool mounting plate 14102. The proximal spine member 14020 has a distal end that is coupled to an elongated channel portion 14022 of a surgical end effector 14012. The surgical effector 14012 may be substantially similar to surgical end effector 13412 described above. In addition, the anvil 14024 of the surgical end effector 14012 may be opened and closed by a distal closure tube 14030 that operably interfaces with the proximal closure tube 14010. Distal closure tube 14030 is identical to distal closure tube 13430 described above. Similarly, proximal closure tube 14010 is identical to proximal closure tube segment 13410 described above.
Anvil 14024 is opened and closed by rotating the proximal closure tube 14010 in manner described above with respect to distal closure tube 13410. In at least one embodiment, the transmission arrangement comprises a closure transmission, generally designated as 14011. As will be further discussed below, the closure transmission 14011 is configured to receive a corresponding first rotary motion from the robotic system 11000 and convert that first rotary motion to a primary rotary motion for rotating the rotatable proximal closure tube 14010 about the longitudinal tool axis LT-LT. As can be seen in FIG. 175, a proximal end 14060 of the proximal closure tube 14010 is rotatably supported within a cradle arrangement 14104 that is attached to a tool mounting plate 14102 of the tool mounting portion 14100. A rotation gear 14062 is formed on or attached to the proximal end 14060 of the closure tube segment 14010 for meshing engagement with a rotation drive assembly 14070 that is operably supported on the tool mounting plate 14102. In at least one embodiment, a rotation drive gear 14072 is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 14102 when the tool mounting portion 14100 is coupled to the tool holder 11270. See FIGS. 105 and 175. The rotation drive assembly 14070 further comprises a rotary driven gear 14074 that is rotatably supported on the tool mounting plate 14102 in meshing engagement with the rotation gear 14062 and the rotation drive gear 14072. Application of a first rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 14072 by virtue of being operably coupled thereto. Rotation of the rotation drive gear 14072 ultimately results in the rotation of the closure tube segment 14010 to open and close the anvil 14024 as described above.
As indicated above, the end effector 14012 employs a cutting element 13860 as shown in FIGS. 173 and 174. In at least one non-limiting embodiment, the transmission arrangement 14103 further comprises a knife drive transmission that includes a knife drive assembly 14080. FIG. 175 illustrates one form of knife drive assembly 14080 for axially advancing the knife bar 14092 that is attached to such cutting element using cables as described above with respect to surgical tool 13800. In particular, the knife bar 14092 replaces the firing cable 13884 employed in an embodiment of surgical tool 13800. One form of the knife drive assembly 14080 comprises a rotary drive gear 14082 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 14102 when the tool mounting portion 14100 is coupled to the tool holder 11270. See FIGS. 105 and 175. The knife drive assembly 14080 further comprises a first rotary driven gear assembly 14084 that is rotatably supported on the tool mounting plate 14102. The first rotary driven gear assembly 14084 is in meshing engagement with a third rotary driven gear assembly 14086 that is rotatably supported on the tool mounting plate 14102 and which is in meshing engagement with a fourth rotary driven gear assembly 14088 that is in meshing engagement with a threaded portion 14094 of drive shaft assembly 14090 that is coupled to the knife bar 14092. Rotation of the rotary drive gear 14082 in a second rotary direction will result in the axial advancement of the drive shaft assembly 14090 and knife bar 14092 in the distal direction “DD”. Conversely, rotation of the rotary drive gear 14082 in a secondary rotary direction (opposite to the second rotary direction) will cause the drive shaft assembly 14090 and the knife bar 14092 to move in the proximal direction. Movement of the firing bar 14092 in the proximal direction “PD” will drive the cutting element 31860 in the distal direction “DD”. Conversely, movement of the firing bar 41092 in the distal direction “DD” will result in the movement of the cutting element 13860 in the proximal direction “PD”.
FIGS. 176-182 illustrate yet another surgical tool 15000 that may be effectively employed in connection with a robotic system 11000. In various forms, the surgical tool 15000 includes a surgical end effector 15012 in the form of a surgical stapling instrument that includes an elongated channel 15020 and a pivotally translatable clamping member, such as an anvil 15070, which are maintained at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 15012. As can be seen in FIG. 178, the elongated channel 15020 may be substantially U-shaped in cross-section and be fabricated from, for example, titanium, 203 stainless steel, 304 stainless steel, 416 stainless steel, 17-4 stainless steel, 17-7 stainless steel, 6061 or 7075 aluminum, chromium steel, ceramic, etc. A substantially U-shaped metal channel pan 15022 may be supported in the bottom of the elongated channel 15020 as shown.
Various embodiments include an actuation member in the form of a sled assembly 15030 that is operably supported within the surgical end effector 15012 and axially movable therein between a starting position and an ending position in response to control motions applied thereto. In some forms, the metal channel pan 15022 has a centrally-disposed slot 15024 therein to movably accommodate a base portion 15032 of the sled assembly 15030. The base portion 15032 includes a foot portion 15034 that is sized to be slidably received in a slot 15021 in the elongated channel 15020. See FIG. 178. As can be seen in FIGS. 177, 178, 181, and 182, the base portion 15032 of sled assembly 15030 includes an axially extending threaded bore 15036 that is configured to be threadedly received on a threaded drive shaft 15130 as will be discussed in further detail below. In addition, the sled assembly 15030 includes an upstanding support portion 15038 that supports a tissue cutting blade or tissue cutting instrument 15040. The upstanding support portion 15038 terminates in a top portion 15042 that has a pair of laterally extending retaining fins 15044 protruding therefrom. As shown in FIG. 178, the fins 15044 are positioned to be received within corresponding slots 15072 in anvil 15070. The fins 15044 and the foot 15034 serve to retain the anvil 15070 in a desired spaced closed position as the sled assembly 15030 is driven distally through the tissue clamped within the surgical end effector 15014. As can also be seen in FIGS. 180 and 182, the sled assembly 15030 further includes a reciprocatably or sequentially activatable drive assembly 15050 for driving staple pushers toward the closed anvil 15070.
More specifically and with reference to FIGS. 178 and 179, the elongated channel 15020 is configured to operably support a surgical staple cartridge 15080 therein. In at least one form, the surgical staple cartridge 15080 comprises a body portion 15082 that may be fabricated from, for example, Vectra, Nylon (6/6 or 6/12) and include a centrally disposed slot 15084 for accommodating the upstanding support portion 15038 of the sled assembly 15030. See FIG. 178. These materials could also be filled with glass, carbon, or mineral fill of 10%-40%. The surgical staple cartridge 15080 further includes a plurality of cavities 15086 for movably supporting lines or rows of staple-supporting pushers 15088 therein. The cavities 15086 may be arranged in spaced longitudinally extending lines or rows 15090, 15092, 15094, 15096. For example, the rows 15090 may be referred to herein as first outboard rows. The rows 15092 may be referred to herein as first inboard rows. The rows 15094 may be referred to as second inboard rows and the rows 15096 may be referred to as second outboard rows. The first inboard row 15090 and the first outboard row 15092 are located on a first lateral side of the longitudinal slot 15084 and the second inboard row 15094 and the second outboard row 15096 are located on a second lateral side of the longitudinal slot 15084. The first staple pushers 15088 in the first inboard row 15092 are staggered in relationship to the first staple pushers 15088 in the first outboard row 15090. Similarly, the second staple pushers 15088 in the second outboard row 15096 are staggered in relationship to the second pushers 15088 in the second inboard row 15094. Each pusher 15088 operably supports a surgical staple 15098 thereon.
In various embodiments, the sequentially-activatable or reciprocatably—activatable drive assembly 15050 includes a pair of outboard drivers 15052 and a pair of inboard drivers 15054 that are each attached to a common shaft 15056 that is rotatably mounted within the base 15032 of the sled assembly 15030. The outboard drivers 15052 are oriented to sequentially or reciprocatingly engage a corresponding plurality of outboard activation cavities 15026 provided in the channel pan 15022. Likewise, the inboard drivers 15054 are oriented to sequentially or reciprocatingly engage a corresponding plurality of inboard activation cavities 15028 provided in the channel pan 15022. The inboard activation cavities 15028 are arranged in a staggered relationship relative to the adjacent outboard activation cavities 15026. See FIG. 179. As can also be seen in FIGS. 179 and 181, in at least one embodiment, the sled assembly 15030 further includes distal wedge segments 15060 and intermediate wedge segments 15062 located on each side of the bore 15036 to engage the pushers 15088 as the sled assembly 15030 is driven distally in the distal direction “DD”. As indicated above, the sled assembly 15030 is threadedly received on a threaded portion 15132 of a drive shaft 15130 that is rotatably supported within the end effector 15012. In various embodiments, for example, the drive shaft 15130 has a distal end 15134 that is supported in a distal bearing 15136 mounted in the surgical end effector 15012. See FIGS. 178 and 179.
In various embodiments, the surgical end effector 15012 is coupled to a tool mounting portion 15200 by an elongated shaft assembly 15108. In at least one embodiment, the tool mounting portion 15200 operably supports a transmission arrangement generally designated as 15204 that is configured to receive rotary output motions from the robotic system. The elongated shaft assembly 15108 includes an outer closure tube 15110 that is rotatable and axially movable on a spine member 15120 that is rigidly coupled to a tool mounting plate 15201 of the tool mounting portion 15200. The spine member 15120 also has a distal end 15122 that is coupled to the elongated channel portion 15020 of the surgical end effector 15012.
In use, it may be desirable to rotate the surgical end effector 15012 about a longitudinal tool axis LT-LT defined by the elongated shaft assembly 15008. In various embodiments, the outer closure tube 15110 has a proximal end 15112 that is rotatably supported on the tool mounting plate 15201 of the tool drive portion 15200 by a forward support cradle 15203. The proximal end 15112 of the outer closure tube 15110 is configured to operably interface with a rotation transmission portion 15206 of the transmission arrangement 15204. In various embodiments, the proximal end 15112 of the outer closure tube 15110 is also supported on a closure sled 15140 that is also movably supported on the tool mounting plate 15201. A closure tube gear segment 15114 is formed on the proximal end 15112 of the outer closure tube 15110 for meshing engagement with a rotation drive assembly 15150 of the rotation transmission 15206. As can be seen in FIG. 176, the rotation drive assembly 15150, in at least one embodiment, comprises a rotation drive gear 15152 that is coupled to a corresponding first one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 15201 when the tool drive portion 15200 is coupled to the tool holder 11270. The rotation drive assembly 15150 further comprises a rotary driven gear 15154 that is rotatably supported on the tool mounting plate 15201 in meshing engagement with the closure tube gear segment 15114 and the rotation drive gear 15152. Application of a first rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 15152. Rotation of the rotation drive gear 15152 ultimately results in the rotation of the elongated shaft assembly 15108 (and the end effector 15012) about the longitudinal tool axis LT-LT (represented by arrow “R” in FIG. 176).
Closure of the anvil 15070 relative to the surgical staple cartridge 15080 is accomplished by axially moving the outer closure tube 15110 in the distal direction “DD”. Such axial movement of the outer closure tube 15110 may be accomplished by a closure transmission portion 15144 of the transmission arrangement 15204. As indicated above, in various embodiments, the proximal end 15112 of the outer closure tube 15110 is supported by the closure sled 15140 which enables the proximal end 15112 to rotate relative thereto, yet travel axially with the closure sled 15140. In particular, as can be seen in FIG. 176, the closure sled 15140 has an upstanding tab 15141 that extends into a radial groove 15115 in the proximal end portion 15112 of the outer closure tube 15110. In addition, as was described above, the closure sled 15140 is slidably mounted to the tool mounting plate 15201. In various embodiments, the closure sled 15140 has an upstanding portion 15142 that has a closure rack gear 15143 formed thereon. The closure rack gear 15143 is configured for driving engagement with the closure transmission 15144.
In various forms, the closure transmission 15144 includes a closure spur gear 15145 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 15201. Thus, application of a second rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 15145 when the interface 11230 is coupled to the tool mounting portion 15200. The closure transmission 15144 further includes a driven closure gear set 15146 that is supported in meshing engagement with the closure spur gear 15145 and the closure rack gear 15143. Thus, application of a second rotary control motion from the robotic system 11000 through the tool holder 11270 and the adapter 11240 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 15145 and ultimately drive the closure sled 15140 and the outer closure tube 15110 axially. The axial direction in which the closure tube 15110 moves ultimately depends upon the direction in which the second driven element 11304 is rotated. For example, in response to one rotary closure motion received from the robotic system 11000, the closure sled 15140 will be driven in the distal direction “DD” and ultimately the outer closure tube 15110 will be driven in the distal direction as well. The outer closure tube 15110 has an opening 15117 in the distal end 15116 that is configured for engagement with a tab 15071 on the anvil 15070 in the manners described above. As the outer closure tube 15110 is driven distally, the proximal end 15116 of the closure tube 15110 will contact the anvil 15070 and pivot it closed. Upon application of an “opening” rotary motion from the robotic system 11000, the closure sled 15140 and outer closure tube 15110 will be driven in the proximal direction “PD” and pivot the anvil 15070 to the open position in the manners described above.
In at least one embodiment, the drive shaft 15130 has a proximal end 15137 that has a proximal shaft gear 15138 attached thereto. The proximal shaft gear 15138 is supported in meshing engagement with a distal drive gear 15162 attached to a rotary drive bar 15160 that is rotatably supported with spine member 15120. Rotation of the rotary drive bar 15160 and ultimately rotary drive shaft 15130 is controlled by a rotary knife transmission 15207 which comprises a portion of the transmission arrangement 15204 supported on the tool mounting plate 15210. In various embodiments, the rotary knife transmission 15207 comprises a rotary knife drive system 15170 that is operably supported on the tool mounting plate 15201. In various embodiments, the knife drive system 15170 includes a rotary drive gear 15172 that is coupled to a corresponding third one of the driven discs or elements 11304 on the adapter side of the tool mounting plate 15201 when the tool drive portion 15200 is coupled to the tool holder 11270. The knife drive system 15170 further comprises a first rotary driven gear 15174 that is rotatably supported on the tool mounting plate 15201 in meshing engagement with a second rotary driven gear 15176 and the rotary drive gear 15172. The second rotary driven gear 15176 is coupled to a proximal end portion 15164 of the rotary drive bar 15160.
Rotation of the rotary drive gear 15172 in a first rotary direction will result in the rotation of the rotary drive bar 15160 and rotary drive shaft 15130 in a first direction. Conversely, rotation of the rotary drive gear 15172 in a second rotary direction (opposite to the first rotary direction) will cause the rotary drive bar 15160 and rotary drive shaft 15130 to rotate in a second direction.
One method of operating the surgical tool 15000 will now be described. The tool drive 15200 is operably coupled to the interface 11240 of the robotic system 11000. The controller 11001 of the robotic system 11000 is operated to locate the tissue to be cut and stapled between the open anvil 15070 and the surgical staple cartridge 15080. Once the surgical end effector 15012 has been positioned by the robot system 11000 such that the target tissue is located between the anvil 15070 and the surgical staple cartridge 15080, the controller 11001 of the robotic system 11000 may be activated to apply the second rotary output motion to the second driven element 11304 coupled to the closure spur gear 15145 to drive the closure sled 15140 and the outer closure tube 15110 axially in the distal direction to pivot the anvil 15070 closed in the manner described above. Once the robotic controller 11001 determines that the anvil 15070 has been closed by, for example, sensors in the surgical end effector 15012 and/or the tool drive portion 15200, the robotic controller 11001 system may provide the surgeon with an indication that signifies the closure of the anvil. Such indication may be, for example, in the form of a light and/or audible sound, tactile feedback on the control members, etc. Then the surgeon may initiate the firing process. In alternative embodiments, however, the robotic controller 11001 may automatically commence the firing process.
To commence the firing process, the robotic controller applies a third rotary output motion to the third driven disc or element 11304 coupled to the rotary drive gear 15172. Rotation of the rotary drive gear 15172 results in the rotation of the rotary drive bar 15160 and rotary drive shaft 15130 in the manner described above. Firing and formation of the surgical staples 15098 can be best understood from reference to FIGS. 177, 179, and 180. As the sled assembly 15030 is driven in the distal direction “DD” through the surgical staple cartridge 15080, the distal wedge segments 15060 first contact the staple pushers 15088 and start to move them toward the closed anvil 15070. As the sled assembly 15030 continues to move distally, the outboard drivers 15052 will drop into the corresponding activation cavity 15026 in the channel pan 15022. The opposite end of each outboard driver 15052 will then contact the corresponding outboard pusher 15088 that has moved up the distal and intermediate wedge segments 15060, 15062. Further distal movement of the sled assembly 15030 causes the outboard drivers 15052 to rotate and drive the corresponding pushers 15088 toward the anvil 15070 to cause the staples 15098 supported thereon to be formed as they are driven into the anvil 15070. It will be understood that as the sled assembly 15030 moves distally, the knife blade 15040 cuts through the tissue that is clamped between the anvil and the staple cartridge. Because the inboard drivers 15054 and outboard drivers 15052 are attached to the same shaft 15056 and the inboard drivers 15054 are radially offset from the outboard drivers 15052 on the shaft 15056, as the outboard drivers 15052 are driving their corresponding pushers 15088 toward the anvil 15070, the inboard drivers 15054 drop into their next corresponding activation cavity 15028 to cause them to rotatably or reciprocatingly drive the corresponding inboard pushers 15088 towards the closed anvil 15070 in the same manner. Thus, the laterally corresponding outboard staples 15098 on each side of the centrally disposed slot 15084 are simultaneously formed together and the laterally corresponding inboard staples 15098 on each side of the slot 15084 are simultaneously formed together as the sled assembly 15030 is driven distally. Once the robotic controller 11001 determines that the sled assembly 15030 has reached its distal most position—either through sensors or through monitoring the amount of rotary input applied to the drive shaft 15130 and/or the rotary drive bar 15160, the controller 11001 may then apply a third rotary output motion to the drive shaft 15130 to rotate the drive shaft 15130 in an opposite direction to retract the sled assembly 15030 back to its starting position. Once the sled assembly 15030 has been retracted to the starting position (as signaled by sensors in the end effector 15012 and/or the tool drive portion 15200), the application of the second rotary motion to the drive shaft 15130 is discontinued. Thereafter, the surgeon may manually activate the anvil opening process or it may be automatically commenced by the robotic controller 11001. To open the anvil 15070, the second rotary output motion is applied to the closure spur gear 15145 to drive the closure sled 15140 and the outer closure tube 15110 axially in the proximal direction. As the closure tube 15110 moves proximally, the opening 15117 in the distal end 15116 of the closure tube 15110 contacts the tab 15071 on the anvil 15070 to pivot the anvil 15070 to the open position. A spring may also be employed to bias the anvil 15070 to the open position when the closure tube 15116 has been returned to the starting position. Again, sensors in the surgical end effector 15012 and/or the tool mounting portion 15200 may provide the robotic controller 11001 with a signal indicating that the anvil 15070 is now open. Thereafter, the surgical end effector 15012 may be withdrawn from the surgical site.
FIGS. 183-188 diagrammatically depict the sequential firing of staples in a surgical tool assembly 15000′ that is substantially similar to the surgical tool assembly 15000 described above. In this embodiment, the inboard and outboard drivers 15052′, 15054′ have a cam-like shape with a cam surface 15053 and an actuator protrusion 15055 as shown in FIGS. 183-189. The drivers 15052′, 15054′ are journaled on the same shaft 15056′ that is rotatably supported by the sled assembly 15030′. In this embodiment, the sled assembly 15030′ has distal wedge segments 15060′ for engaging the pushers 15088. FIG. 183 illustrates an initial position of two inboard or outboard drivers 15052′, 15054′ as the sled assembly 15030′ is driven in the distal direction “DD”. As can be seen in that Figure, the pusher 15088 a has advanced up the wedge segment 15060′ and has contacted the driver 15052′, 15054′. Further travel of the sled assembly 15030′ in the distal direction causes the driver 15052′, 15054′ to pivot in the “P” direction (FIG. 184) until the actuator portion 15055 contacts the end wall 15029 a of the activation cavity 15026, 15028 as shown in FIG. 185. Continued advancement of the sled assembly 15030′ in the distal direction “DD” causes the driver 15052′, 15054′ to rotate in the “D” direction as shown in FIG. 186. As the driver 15052′, 15054′ rotates, the pusher 15088 a rides up the cam surface 15053 to the final vertical position shown in FIG. 187. When the pusher 15088 a reaches the final vertical position shown in FIGS. 187 and 188, the staple (not shown) supported thereon has been driven into the staple forming surface of the anvil to form the staple.
FIGS. 190-195 illustrate a surgical end effector 15312 that may be employed for example, in connection with the tool mounting portion 11300 and shaft 12008 described in detail above. In various forms, the surgical end effector 15312 includes an elongated channel 15322 that is constructed as described above for supporting a surgical staple cartridge 15330 therein. The surgical staple cartridge 15330 comprises a body portion 15332 that includes a centrally disposed slot 15334 for accommodating an upstanding support portion 15386 of a sled assembly 15380. See FIGS. 190-192. The surgical staple cartridge body portion 15332 further includes a plurality of cavities 15336 for movably supporting staple-supporting pushers 15350 therein. The cavities 15336 may be arranged in spaced longitudinally extending rows 15340, 15342, 15344, 15346. The rows 15340, 15342 are located on one lateral side of the longitudinal slot 15334 and the rows 15344, 15346 are located on the other side of longitudinal slot 15334. In at least one embodiment, the pushers 15350 are configured to support two surgical staples 15352 thereon. In particular, each pusher 15350 located on one side of the elongated slot 15334 supports one staple 15352 in row 15340 and one staple 15352 in row 15342 in a staggered orientation. Likewise, each pusher 15350 located on the other side of the elongated slot 15334 supports one surgical staple 15352 in row 15344 and another surgical staple 15352 in row 15346 in a staggered orientation. Thus, every pusher 15350 supports two surgical staples 15352.
As can be further seen in FIGS. 190, 191, the surgical staple cartridge 15330 includes a plurality of rotary drivers 15360. More particularly, the rotary drivers 15360 on one side of the elongated slot 15334 are arranged in a single line 15370 and correspond to the pushers 15350 in lines 15340, 15342. In addition, the rotary drivers 15360 on the other side of the elongated slot 15334 are arranged in a single line 15372 and correspond to the pushers 15350 in lines 15344, 15346. As can be seen in FIG. 190, each rotary driver 15360 is rotatably supported within the staple cartridge body 15332. More particularly, each rotary driver 15360 is rotatably received on a corresponding driver shaft 15362. Each driver 15360 has an arcuate ramp portion 15364 formed thereon that is configured to engage an arcuate lower surface 15354 formed on each pusher 15350. See FIG. 195. In addition, each driver 15360 has a lower support portion 15366 extend therefrom to slidably support the pusher 15360 on the channel 15322. Each driver 15360 has a downwardly extending actuation rod 15368 that is configured for engagement with a sled assembly 15380.
As can be seen in FIG. 192, in at least one embodiment, the sled assembly 15380 includes a base portion 15382 that has a foot portion 15384 that is sized to be slidably received in a slot 15333 in the channel 15322. See FIG. 190. The sled assembly 15380 includes an upstanding support portion 15386 that supports a tissue cutting blade or tissue cutting instrument 15388. The upstanding support portion 15386 terminates in a top portion 15390 that has a pair of laterally extending retaining fins 15392 protruding therefrom. The fins 15392 are positioned to be received within corresponding slots (not shown) in the anvil (not shown). As with the above-described embodiments, the fins 15392 and the foot portion 15384 serve to retain the anvil (not shown) in a desired spaced closed position as the sled assembly 15380 is driven distally through the tissue clamped within the surgical end effector 15312. The upstanding support portion 15386 is configured for attachment to a knife bar 12200 (FIG. 111). The sled assembly 15380 further has a horizontally-extending actuator plate 15394 that is shaped for actuating engagement with each of the actuation rods 15368 on the pushers 15360.
Operation of the surgical end effector 15312 will now be explained with reference to FIGS. 190 and 191. As the sled assembly 15380 is driven in the distal direction “DD” through the staple cartridge 15330, the actuator plate 15394 sequentially contacts the actuation rods 15368 on the pushers 15360. As the sled assembly 15380 continues to move distally, the actuator plate 15394 sequentially contacts the actuator rods 15368 of the drivers 15360 on each side of the elongated slot 15334. Such action causes the drivers 15360 to rotate from a first unactuated position to an actuated portion wherein the pushers 15350 are driven towards the closed anvil. As the pushers 15350 are driven toward the anvil, the surgical staples 15352 thereon are driven into forming contact with the underside of the anvil. Once the robotic system 11000 determines that the sled assembly 15080 has reached its distal most position through sensors or other means, the control system of the robotic system 11000 may then retract the knife bar and sled assembly 15380 back to the starting position. Thereafter, the robotic control system may then activate the procedure for returning the anvil to the open position to release the stapled tissue.
FIGS. 196-200 depict one form of an automated reloading system embodiment of the present invention, generally designated as 15500. In one form, the automated reloading system 15500 is configured to replace a “spent” surgical end effector component in a manipulatable surgical tool portion of a robotic surgical system with a “new” surgical end effector component. As used herein, the term “surgical end effector component” may comprise, for example, a surgical staple cartridge, a disposable loading unit or other end effector components that, when used, are spent and must be replaced with a new component. Furthermore, the term “spent” means that the end effector component has been activated and is no longer useable for its intended purpose in its present state. For example, in the context of a surgical staple cartridge or disposable loading unit, the term “spent” means that at least some of the unformed staples that were previously supported therein have been “fired” therefrom. As used herein, the term “new” surgical end effector component refers to an end effector component that is in condition for its intended use. In the context of a surgical staple cartridge or disposable loading unit, for example, the term “new” refers to such a component that has unformed staples therein and which is otherwise ready for use.
In various embodiments, the automated reloading system 15500 includes a base portion 15502 that may be strategically located within a work envelope 11109 of a robotic arm cart 11100 (FIG. 97) of a robotic system 11000. As used herein, the term “manipulatable surgical tool portion” collectively refers to a surgical tool of the various types disclosed herein and other forms of surgical robotically-actuated tools that are operably attached to, for example, a robotic arm cart 11100 or similar device that is configured to automatically manipulate and actuate the surgical tool. The term “work envelope” as used herein refers to the range of movement of the manipulatable surgical tool portion of the robotic system. FIG. 97 generally depicts an area that may comprise a work envelope of the robotic arm cart 11100. Those of ordinary skill in the art will understand that the shape and size of the work envelope depicted therein is merely illustrative. The ultimate size, shape and location of a work envelope will ultimately depend upon the construction, range of travel limitations, and location of the manipulatable surgical tool portion. Thus, the term “work envelope” as used herein is intended to cover a variety of different sizes and shapes of work envelopes and should not be limited to the specific size and shape of the sample work envelope depicted in FIG. 97.
As can be seen in FIG. 196, the base portion 15502 includes a new component support section or arrangement 15510 that is configured to operably support at least one new surgical end effector component in a “loading orientation”. As used herein, the term “loading orientation” means that the new end effector component is supported in such away so as to permit the corresponding component support portion of the manipulatable surgical tool portion to be brought into loading engagement with (i.e., operably seated or operably attached to) the new end effector component (or the new end effector component to be brought into loading engagement with the corresponding component support portion of the manipulatable surgical tool portion) without human intervention beyond that which may be necessary to actuate the robotic system. As will be further appreciated as the present Detailed Description proceeds, in at least one embodiment, the preparation nurse will load the new component support section before the surgery with the appropriate length and color cartridges (some surgical staple cartridges may support certain sizes of staples the size of which may be indicated by the color of the cartridge body) required for completing the surgical procedure. However, no direct human interaction is necessary during the surgery to reload the robotic endocutter. In one form, the surgical end effector component comprises a staple cartridge 12034 that is configured to be operably seated within a component support portion (elongated channel) of any of the various other end effector arrangements described above. For explanation purposes, new (unused) cartridges will be designated as “12034 a” and spent cartridges will be designated as “12034 b”. The Figures depict cartridges 12034 a, 12034 b designed for use with a surgical end effector 12012 that includes a channel 12022 and an anvil 12024, the construction and operation of which were discussed in detail above. Cartridges 12034 a, 12034 b are identical to cartridges 12034 described above. In various embodiments, the cartridges 12034 a, 12034 b are configured to be snappingly retained (i.e., loading engagement) within the channel 12022 of a surgical end effector 12012. As the present Detailed Description proceeds, however, those of ordinary skill in the art will appreciate that the unique and novel features of the automated cartridge reloading system 15500 may be effectively employed in connection with the automated removal and installation of other cartridge arrangements without departing from the spirit and scope of the present invention.
In the depicted embodiment, the term “loading orientation” means that the distal tip portion 12035 a of the a new surgical staple cartridge 12034 a is inserted into a corresponding support cavity 15512 in the new cartridge support section 15510 such that the proximal end portion 12037 a of the new surgical staple cartridge 12034 a is located in a convenient orientation for enabling the arm cart 11100 to manipulate the surgical end effector 12012 into a position wherein the new cartridge 12034 a may be automatically loaded into the channel 12022 of the surgical end effector 12012. In various embodiments, the base 15502 includes at least one sensor 15504 which communicates with the control system 11003 of the robotic controller 11001 to provide the control system 11003 with the location of the base 15502 and/or the reload length and color doe each staged or new cartridge 12034 a.
As can also be seen in the Figures, the base 15502 further includes a collection receptacle 15520 that is configured to collect spent cartridges 12034 b that have been removed or disengaged from the surgical end effector 12012 that is operably attached to the robotic system 11000. In addition, in one form, the automated reloading system 15500 includes an extraction system 15530 for automatically removing the spent end effector component from the corresponding support portion of the end effector or manipulatable surgical tool portion without specific human intervention beyond that which may be necessary to activate the robotic system. In various embodiments, the extraction system 15530 includes an extraction hook member 15532. In one form, for example, the extraction hook member 15532 is rigidly supported on the base portion 15502. In one embodiment, the extraction hook member has at least one hook 5534 formed thereon that is configured to hookingly engage the distal end 12035 of a spent cartridge 12034 b when it is supported in the elongated channel 12022 of the surgical end effector 12012. In various forms, the extraction hook member 15532 is conveniently located within a portion of the collection receptacle 15520 such that when the spent end effector component (cartridge 12034 b) is brought into extractive engagement with the extraction hook member 15532, the spent end effector component (cartridge 12034 b) is dislodged from the corresponding component support portion (elongated channel 12022), and falls into the collection receptacle 15020. Thus, to use this embodiment, the manipulatable surgical tool portion manipulates the end effector attached thereto to bring the distal end 12035 of the spent cartridge 12034 b therein into hooking engagement with the hook 15534 and then moves the end effector in such a way to dislodge the spent cartridge 12034 b from the elongated channel 12022.
In other arrangements, the extraction hook member 15532 comprises a rotatable wheel configuration that has a pair of diametrically-opposed hooks 15334 protruding therefrom. See FIGS. 196 and 199. The extraction hook member 15532 is rotatably supported within the collection receptacle 15520 and is coupled to an extraction motor 15540 that is controlled by the controller 11001 of the robotic system. This form of the automated reloading system 15500 may be used as follows. FIG. 198 illustrates the introduction of the surgical end effector 12012 that is operably attached to the manipulatable surgical tool portion 11200. As can be seen in that Figure, the arm cart 11100 of the robotic system 11000 locates the surgical end effector 12012 in the shown position wherein the hook end 15534 of the extraction member 15532 hookingly engages the distal end 12035 of the spent cartridge 12034 b in the surgical end effector 12012. The anvil 12024 of the surgical end effector 12012 is in the open position. After the distal end 12035 of the spent cartridge 12034 b is engaged with the hook end 15532, the extraction motor 15540 is actuated to rotate the extraction wheel 15532 to disengage the spent cartridge 12034 b from the channel 12022. To assist with the disengagement of the spent cartridge 12034 b from the channel 12022 (or if the extraction member 15530 is stationary), the robotic system 11000 may move the surgical end effector 12012 in an upward direction (arrow “U” in FIG. 199). As the spent cartridge 12034 b is dislodged from the channel 12022, the spent cartridge 12034 b falls into the collection receptacle 15520. Once the spent cartridge 12034 b has been removed from the surgical end effector 12012, the robotic system 11000 moves the surgical end effector 12012 to the position shown in FIG. 200.
In various embodiments, a sensor arrangement 15533 is located adjacent to the extraction member 15532 that is in communication with the controller 11001 of the robotic system 11000. The sensor arrangement 15533 may comprise a sensor that is configured to sense the presence of the surgical end effector 12012 and, more particularly the tip 12035 b of the spent surgical staple cartridge 12034 b thereof as the distal tip portion 12035 b is brought into engagement with the extraction member 15532. In some embodiments, the sensor arrangement 15533 may comprise, for example, a light curtain arrangement. However, other forms of proximity sensors may be employed. In such arrangement, when the surgical end effector 12012 with the spent surgical staple cartridge 12034 b is brought into extractive engagement with the extraction member 15532, the sensor senses the distal tip 12035 b of the surgical staple cartridge 12034 b (e.g., the light curtain is broken). When the extraction member 15532 spins and pops the surgical staple cartridge 12034 b loose and it falls into the collection receptacle 15520, the light curtain is again unbroken. Because the surgical end effector 12012 was not moved during this procedure, the robotic controller 11001 is assured that the spent surgical staple cartridge 12034 b has been removed therefrom. Other sensor arrangements may also be successfully employed to provide the robotic controller 11001 with an indication that the spent surgical staple cartridge 12034 b has been removed from the surgical end effector 12012.
As can be seen in FIG. 200, the surgical end effector 12012 is positioned to grasp a new surgical staple cartridge 12034 a between the channel 12022 and the anvil 12024. More specifically, as shown in FIGS. 197 and 200, each cavity 11512 has a corresponding upstanding pressure pad 15514 associated with it. The surgical end effector 12012 is located such that the pressure pad 15514 is located between the new cartridge 12034 a and the anvil 12024. Once in that position, the robotic system 11000 closes the anvil 12024 onto the pressure pad 15514 which serves to push the new cartridge 12034 a into snapping engagement with the channel 12022 of the surgical end effector 12012. Once the new cartridge 12034 a has been snapped into position within the elongated channel 12022, the robotic system 11000 then withdraws the surgical end effector 12012 from the automated cartridge reloading system 15500 for use in connection with performing another surgical procedure.
FIGS. 201-205 depict another automated reloading system 15600 that may be used to remove a spent disposable loading unit 13612 from a manipulatable surgical tool arrangement 13600 (FIGS. 148-161) that is operably attached to an arm cart 11100 or other portion of a robotic system 11000 and reload a new disposable loading unit 13612 therein. As can be seen in FIGS. 201 and 202, one form of the automated reloading system 15600 includes a housing 15610 that has a movable support assembly in the form of a rotary carrousel top plate 15620 supported thereon which cooperates with the housing 15610 to form a hollow enclosed area 15612. The automated reloading system 15600 is configured to be operably supported within the work envelop of the manipulatable surgical tool portion of a robotic system as was described above. In various embodiments, the rotary carrousel plate 15620 has a plurality of holes 15622 for supporting a plurality of orientation tubes 15660 therein. As can be seen in FIGS. 202 and 203, the rotary carrousel plate 15620 is affixed to a spindle shaft 15624. The spindle shaft 15624 is centrally disposed within the enclosed area 15612 and has a spindle gear 15626 attached thereto. The spindle gear 15626 is in meshing engagement with a carrousel drive gear 15628 that is coupled to a carrousel drive motor 15630 that is in operative communication with the robotic controller 11001 of the robotic system 11000.
Various embodiments of the automated reloading system 15600 may also include a carrousel locking assembly, generally designated as 15640. In various forms, the carrousel locking assembly 15640 includes a cam disc 15642 that is affixed to the spindle shaft 15624. The spindle gear 15626 may be attached to the underside of the cam disc 15642 and the cam disc 15642 may be keyed onto the spindle shaft 15624. In alternative arrangements, the spindle gear 15626 and the cam disc 15642 may be independently non-rotatably affixed to the spindle shaft 15624. As can be seen in FIGS. 202 and 203, a plurality of notches 15644 are spaced around the perimeter of the cam disc 15642. A locking arm 15648 is pivotally mounted within the housing 15610 and is biased into engagement with the perimeter of the cam disc 15642 by a locking spring 15649. As can be seen in FIG. 201, the outer perimeter of the cam disc 15642 is rounded to facilitate rotation of the cam disc 15642 relative to the locking arm 15648. The edges of each notch 15644 are also rounded such that when the cam disc 15642 is rotated, the locking arm 15648 is cammed out of engagement with the notches 15644 by the perimeter of the cam disc 15642.
Various forms of the automated reloading system 15600 are configured to support a portable/replaceable tray assembly 15650 that is configured to support a plurality of disposable loading units 13612 in individual orientation tubes 15660. More specifically and with reference to FIGS. 202 and 203, the replaceable tray assembly 15650 comprises a tray 15652 that has a centrally-disposed locator spindle 15654 protruding from the underside thereof. The locator spindle 15654 is sized to be received within a hollow end 15625 of spindle shaft 15624. The tray 15652 has a plurality of holes 15656 therein that are configured to support an orientation tube 15660 therein. Each orientation tube 15660 is oriented within a corresponding hole 15656 in the replaceable tray assembly 15650 in a desired orientation by a locating fin 15666 on the orientation tube 15660 that is designed to be received within a corresponding locating slot 15658 in the tray assembly 15650. In at least one embodiment, the locating fin 15666 has a substantially V-shaped cross-sectional shape that is sized to fit within a V-shaped locating slot 15658. Such arrangement serves to orient the orientation tube 15660 in a desired starting position while enabling it to rotate within the hole 15656 when a rotary motion is applied thereto. That is, when a rotary motion is applied to the orientation tube 15660 the V-shaped locating fin 15666 will pop out of its corresponding locating slot enabling the tube 15660 to rotate relative to the tray 15652 as will be discussed in further detail below. As can also be seen in FIGS. 201-203, the replaceable tray 15652 may be provided with one or more handle portions 15653 to facilitate transport of the tray assembly 15652 when loaded with orientation tubes 15660.
As can be seen in FIG. 205, each orientation tube 15660 comprises a body portion 15662 that has a flanged open end 15664. The body portion 15662 defines a cavity 15668 that is sized to receive a portion of a disposable loading unit 13612 therein. To properly orient the disposable loading unit 13612 within the orientation tube 15660, the cavity 15668 has a flat locating surface 15670 formed therein. As can be seen in FIG. 205, the flat locating surface 15670 is configured to facilitate the insertion of the disposable loading unit into the cavity 15668 in a desired or predetermined non-rotatable orientation. In addition, the end 15669 of the cavity 15668 may include a foam or cushion material 15672 that is designed to cushion the distal end of the disposable loading unit 13612 within the cavity 15668. Also, the length of the locating surface may cooperate with a sliding support member 13689 of the axial drive assembly 13680 of the disposable loading unit 13612 to further locate the disposable loading unit 13612 at a desired position within the orientation tube 15660.
The orientation tubes 15660 may be fabricated from Nylon, polycarbonate, polyethylene, liquid crystal polymer, 6061 or 7075 aluminum, titanium, 300 or 400 series stainless steel, coated or painted steel, plated steel, etc. and, when loaded in the replaceable tray 15662 and the locator spindle 15654 is inserted into the hollow end 15625 of spindle shaft 15624, the orientation tubes 15660 extend through corresponding holes 15662 in the carrousel top plate 15620. Each replaceable tray 15662 is equipped with a location sensor 15663 that communicates with the control system 11003 of the controller 11001 of the robotic system 11000. The sensor 15663 serves to identify the location of the reload system, and the number, length, color and fired status of each reload housed in the tray. In addition, an optical sensor or sensors 15665 that communicate with the robotic controller 11001 may be employed to sense the type/size/length of disposable loading units that are loaded within the tray 15662.
Various embodiments of the automated reloading system 15600 further include a drive assembly 15680 for applying a rotary motion to the orientation tube 15660 holding the disposable loading unit 13612 to be attached to the shaft 13700 of the surgical tool 13600 (collectively the “manipulatable surgical tool portion”) that is operably coupled to the robotic system. The drive assembly 15680 includes a support yoke 15682 that is attached to the locking arm 15648. Thus, the support yoke 15682 pivots with the locking arm 15648. The support yoke 15682 rotatably supports a tube idler wheel 15684 and a tube drive wheel 15686 that is driven by a tube motor 15688 attached thereto. Tube motor 15688 communicates with the control system 11003 and is controlled thereby. The tube idler wheel 15684 and tube drive wheel 15686 are fabricated from, for example, natural rubber, sanoprene, isoplast, etc. such that the outer surfaces thereof create sufficient amount of friction to result in the rotation of an orientation tube 15660 in contact therewith upon activation of the tube motor 15688. The idler wheel 15684 and tube drive wheel 15686 are oriented relative to each other to create a cradle area 15687 therebetween for receiving an orientation tube 15060 in driving engagement therein.
In use, one or more of the orientation tubes 15660 loaded in the automated reloading system 15600 are left empty, while the other orientation tubes 15660 may operably support a corresponding new disposable loading unit 13612 therein. As will be discussed in further detail below, the empty orientation tubes 15660 are employed to receive a spent disposable loading unit 13612 therein.
The automated reloading system 15600 may be employed as follows after the system 15600 is located within the work envelope of the manipulatable surgical tool portion of a robotic system. If the manipulatable surgical tool portion has a spent disposable loading unit 13612 operably coupled thereto, one of the orientation tubes 15660 that are supported on the replaceable tray 15662 is left empty to receive the spent disposable loading unit 13612 therein. If, however, the manipulatable surgical tool portion does not have a disposable loading unit 13612 operably coupled thereto, each of the orientation tubes 15660 may be provided with a properly oriented new disposable loading unit 13612.
As described hereinabove, the disposable loading unit 13612 employs a rotary “bayonet-type” coupling arrangement for operably coupling the disposable loading unit 13612 to a corresponding portion of the manipulatable surgical tool portion. That is, to attach a disposable loading unit 13612 to the corresponding portion of the manipulatable surgical tool portion (13700—see FIG. 154, 155), a rotary installation motion must be applied to the disposable loading unit 13612 and/or the corresponding portion of the manipulatable surgical tool portion when those components have been moved into loading engagement with each other. Such installation motions are collectively referred to herein as “loading motions”. Likewise, to decouple a spent disposable loading unit 13612 from the corresponding portion of the manipulatable surgical tool, a rotary decoupling motion must be applied to the spent disposable loading unit 13612 and/or the corresponding portion of the manipulatable surgical tool portion while simultaneously moving the spent disposable loading unit and the corresponding portion of the manipulatable surgical tool away from each other. Such decoupling motions are collectively referred to herein as “extraction motions”.
To commence the loading process, the robotic system 11000 is activated to manipulate the manipulatable surgical tool portion and/or the automated reloading system 15600 to bring the manipulatable surgical tool portion into loading engagement with the new disposable loading unit 13612 that is supported in the orientation tube 15660 that is in driving engagement with the drive assembly 15680. Once the robotic controller 11001 (FIG. 96) of the robotic control system 11000 has located the manipulatable surgical tool portion in loading engagement with the new disposable loading unit 13612, the robotic controller 11001 activates the drive assembly 15680 to apply a rotary loading motion to the orientation tube 15660 in which the new disposable loading unit 13612 is supported and/or applies another rotary loading motion to the corresponding portion of the manipulatable surgical tool portion. Upon application of such rotary loading motions(s), the robotic controller 11001 also causes the corresponding portion of the manipulatable surgical tool portion to be moved towards the new disposable loading unit 13612 into loading engagement therewith. Once the disposable loading unit 13612 is in loading engagement with the corresponding portion of the manipulatable tool portion, the loading motions are discontinued and the manipulatable surgical tool portion may be moved away from the automated reloading system 15600 carrying with it the new disposable loading unit 13612 that has been operably coupled thereto.
To decouple a spent disposable loading unit 13612 from a corresponding manipulatable surgical tool portion, the robotic controller 11001 of the robotic system manipulates the manipulatable surgical tool portion so as to insert the distal end of the spent disposable loading unit 13612 into the empty orientation tube 15660 that remains in driving engagement with the drive assembly 15680. Thereafter, the robotic controller 11001 activates the drive assembly 15680 to apply a rotary extraction motion to the orientation tube 15660 in which the spent disposable loading unit 13612 is supported and/or applies a rotary extraction motion to the corresponding portion of the manipulatable surgical tool portion. The robotic controller 11001 also causes the manipulatable surgical tool portion to withdraw away from the spent rotary disposable loading unit 13612. Thereafter the rotary extraction motion(s) are discontinued.
After the spent disposable loading unit 13612 has been removed from the manipulatable surgical tool portion, the robotic controller 11001 may activate the carrousel drive motor 15630 to index the carrousel top plate 15620 to bring another orientation tube 15660 that supports a new disposable loading unit 13612 therein into driving engagement with the drive assembly 15680. Thereafter, the loading process may be repeated to attach the new disposable loading unit 13612 therein to the portion of the manipulatable surgical tool portion. The robotic controller 11001 may record the number of disposable loading units that have been used from a particular replaceable tray 15652. Once the controller 11001 determines that all of the new disposable loading units 13612 have been used from that tray, the controller 11001 may provide the surgeon with a signal (visual and/or audible) indicating that the tray 15652 supporting all of the spent disposable loading units 13612 must be replaced with a new tray 15652 containing new disposable loading units 13612.
FIGS. 206-211 depict another non-limiting embodiment of a surgical tool 16000 of the present invention that is well-adapted for use with a robotic system 11000 that has a tool drive assembly 11010 (FIG. 101) that is operatively coupled to a master controller 11001 that is operable by inputs from an operator (i.e., a surgeon). As can be seen in FIG. 206, the surgical tool 16000 includes a surgical end effector 16012 that comprises an endocutter. In at least one form, the surgical tool 16000 generally includes an elongated shaft assembly 16008 that has a proximal closure tube 16040 and a distal closure tube 16042 that are coupled together by an articulation joint 16100. The surgical tool 16000 is operably coupled to the manipulator by a tool mounting portion, generally designated as 16200. The surgical tool 16000 further includes an interface 16030 which may mechanically and electrically couple the tool mounting portion 16200 to the manipulator in the various manners described in detail above.
In at least one embodiment, the surgical tool 16000 includes a surgical end effector 16012 that comprises, among other things, at least one component 16024 that is selectively movable between first and second positions relative to at least one other component 16022 in response to various control motions applied to component 16024 as will be discussed in further detail below to perform a surgical procedure. In various embodiments, component 16022 comprises an elongated channel 16022 configured to operably support a surgical staple cartridge 16034 therein and component 16024 comprises a pivotally translatable clamping member, such as an anvil 16024. Various embodiments of the surgical end effector 16012 are configured to maintain the anvil 16024 and elongated channel 16022 at a spacing that assures effective stapling and severing of tissue clamped in the surgical end effector 16012. Unless otherwise stated, the end effector 16012 is similar to the surgical end effector 12012 described above and includes a cutting instrument (not shown) and a sled (not shown). The anvil 16024 may include a tab 16027 at its proximal end that interacts with a component of the mechanical closure system (described further below) to facilitate the opening of the anvil 16024. The elongated channel 16022 and the anvil 16024 may be made of an electrically conductive material (such as metal) so that they may serve as part of an antenna that communicates with sensor(s) in the end effector, as described above. The surgical staple cartridge 16034 could be made of a nonconductive material (such as plastic) and the sensor may be connected to or disposed in the surgical staple cartridge 16034, as was also described above.
As can be seen in FIG. 206, the surgical end effector 16012 is attached to the tool mounting portion 16200 by the elongated shaft assembly 16008 according to various embodiments. As shown in the illustrated embodiment, the elongated shaft assembly 16008 includes an articulation joint generally designated as 16100 that enables the surgical end effector 16012 to be selectively articulated about a first tool articulation axis AA1-AA1 that is substantially transverse to a longitudinal tool axis LT-LT and a second tool articulation axis AA2-AA2 that is substantially transverse to the longitudinal tool axis LT-LT as well as the first articulation axis AA1-AA1. See FIG. 207. In various embodiments, the elongated shaft assembly 16008 includes a closure tube assembly 16009 that comprises a proximal closure tube 16040 and a distal closure tube 16042 that are pivotably linked by a pivot links 16044 and 16046. The closure tube assembly 16009 is movably supported on a spine assembly generally designated as 16102.
As can be seen in FIG. 208, the proximal closure tube 16040 is pivotally linked to an intermediate closure tube joint 16043 by an upper pivot link 16044U and a lower pivot link 16044L such that the intermediate closure tube joint 16043 is pivotable relative to the proximal closure tube 16040 about a first closure axis CA1-CA1 and a second closure axis CA2-CA2. In various embodiments, the first closure axis CA1-CA1 is substantially parallel to the second closure axis CA2-CA2 and both closure axes CA1-CA1, CA2-CA2 are substantially transverse to the longitudinal tool axis LT-LT. As can be further seen in FIG. 208, the intermediate closure tube joint 16043 is pivotally linked to the distal closure tube 16042 by a left pivot link 16046L and a right pivot link 16046R such that the intermediate closure tube joint 16043 is pivotable relative to the distal closure tube 16042 about a third closure axis CA3-CA3 and a fourth closure axis CA4-CA4. In various embodiments, the third closure axis CA3-CA3 is substantially parallel to the fourth closure axis CA4-CA4 and both closure axes CA3-CA3, CA4-CA4 are substantially transverse to the first and second closure axes CA1-CA1, CA2-CA2 as well as to longitudinal tool axis LT-LT.
The closure tube assembly 16009 is configured to axially slide on the spine assembly 16102 in response to actuation motions applied thereto. The distal closure tube 16042 includes an opening 16045 which interfaces with the tab 16027 on the anvil 16024 to facilitate opening of the anvil 16024 as the distal closure tube 16042 is moved axially in the proximal direction “PD”. The closure tubes 16040, 16042 may be made of electrically conductive material (such as metal) so that they may serve as part of the antenna, as described above. Components of the spine assembly 16102 may be made of a nonconductive material (such as plastic).
As indicated above, the surgical tool 16000 includes a tool mounting portion 16200 that is configured for operable attachment to the tool mounting assembly 11010 of the robotic system 11000 in the various manners described in detail above. As can be seen in FIG. 210, the tool mounting portion 16200 comprises a tool mounting plate 16202 that operably supports a transmission arrangement 16204 thereon. In various embodiments, the transmission arrangement 16204 includes an articulation transmission 16142 that comprises a portion of an articulation system 16140 for articulating the surgical end effector 16012 about a first tool articulation axis TA1-TA1 and a second tool articulation axis TA2-TA2. The first tool articulation axis TA1-TA1 is substantially transverse to the second tool articulation axis TA2-TA2 and both of the first and second tool articulation axes are substantially transverse to the longitudinal tool axis LT-LT. See FIG. 207.
To facilitate selective articulation of the surgical end effector 16012 about the first and second tool articulation axes TA1-TA1, TA2-TA2, the spine assembly 16102 comprises a proximal spine portion 16110 that is pivotally coupled to a distal spine portion 16120 by pivot pins 16122 for selective pivotal travel about TA1-TA1. Similarly, the distal spine portion 16120 is pivotally attached to the elongated channel 16022 of the surgical end effector 16012 by pivot pins 16124 to enable the surgical end effector 16012 to selectively pivot about the second tool axis TA2-TA2 relative to the distal spine portion 16120.
In various embodiments, the articulation system 16140 further includes a plurality of articulation elements that operably interface with the surgical end effector 16012 and an articulation control arrangement 16160 that is operably supported in the tool mounting member 16200 as will described in further detail below. In at least one embodiment, the articulation elements comprise a first pair of first articulation cables 16144 and 16146. The first articulation cables are located on a first or right side of the longitudinal tool axis. Thus, the first articulation cables are referred to herein as a right upper cable 16144 and a right lower cable 16146. The right upper cable 16144 and the right lower cable 16146 extend through corresponding passages 16147, 16148, respectively along the right side of the proximal spine portion 16110. See FIG. 211. The articulation system 16140 further includes a second pair of second articulation cables 16150, 16152. The second articulation cables are located on a second or left side of the longitudinal tool axis. Thus, the second articulation cables are referred to herein as a left upper articulation cable 16150 and a left articulation cable 16152. The left upper articulation cable 16150 and the left lower articulation cable 16152 extend through passages 16153, 16154, respectively in the proximal spine portion 16110.
As can be seen in FIG. 207, the right upper cable 16144 extends around an upper pivot joint 16123 and is attached to a left upper side of the elongated channel 16022 at a left pivot joint 16125. The right lower cable 16146 extends around a lower pivot joint 16126 and is attached to a left lower side of the elongated channel 16022 at left pivot joint 16125. The left upper cable 16150 extends around the upper pivot joint 16123 and is attached to a right upper side of the elongated channel 16022 at a right pivot joint 16127. The left lower cable 16152 extends around the lower pivot joint 16126 and is attached to a right lower side of the elongated channel 16022 at right pivot joint 16127. Thus, to pivot the surgical end effector 16012 about the first tool articulation axis TA1-TA1 to the left (arrow “L”), the right upper cable 16144 and the right lower cable 16146 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 16012 to the right (arrow “R”) about the first tool articulation axis TA1-TA1, the left upper cable 16150 and the left lower cable 16152 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 16012 about the second tool articulation axis TA2-TA2, in an upward direction (arrow “U”), the right upper cable 16144 and the left upper cable 16150 must be pulled in the proximal direction “PD”. To articulate the surgical end effector 16012 in the downward direction (arrow “DW”) about the second tool articulation axis TA2-TA2, the right lower cable 16146 and the left lower cable 16152 must be pulled in the proximal direction “PD”.
The proximal ends of the articulation cables 16144, 16146, 16150, 16152 are coupled to the articulation control arrangement 16160 which comprises a ball joint assembly that is a part of the articulation transmission 16142. More specifically and with reference to FIG. 211, the ball joint assembly 16160 includes a ball-shaped member 16162 that is formed on a proximal portion of the proximal spine 16110. Movably supported on the ball-shaped member 16162 is an articulation control ring 16164. As can be further seen in FIG. 211, the proximal ends of the articulation cables 16144, 16146, 16150, 16152 are coupled to the articulation control ring 16164 by corresponding ball joint arrangements 16166. The articulation control ring 16164 is controlled by an articulation drive assembly 16170. As can be most particularly seen in FIG. 211, the proximal ends of the first articulation cables 16144, 16146 are attached to the articulation control ring 16164 at corresponding spaced first points 16149, 16151 that are located on plane 16159. Likewise, the proximal ends of the second articulation cables 16150, 16152 are attached to the articulation control ring 16164 at corresponding spaced second points 16153, 16155 that are also located along plane 16159. As the present Detailed Description proceeds, those of ordinary skill in the art will appreciate that such cable attachment configuration on the articulation control ring 16164 facilitates the desired range of articulation motions as the articulation control ring 16164 is manipulated by the articulation drive assembly 16170.
In various forms, the articulation drive assembly 16170 comprises a horizontal articulation assembly generally designated as 16171. In at least one form, the horizontal articulation assembly 16171 comprises a horizontal push cable 16172 that is attached to a horizontal gear arrangement 16180. The articulation drive assembly 16170 further comprises a vertically articulation assembly generally designated as 16173. In at least one form, the vertical articulation assembly 16173 comprises a vertical push cable 16174 that is attached to a vertical gear arrangement 16190. As can be seen in FIGS. 210 and 211, the horizontal push cable 16172 extends through a support plate 16167 that is attached to the proximal spine portion 16110. The distal end of the horizontal push cable 16174 is attached to the articulation control ring 16164 by a corresponding ball/pivot joint 16168. The vertical push cable 16174 extends through the support plate 16167 and the distal end thereof is attached to the articulation control ring 16164 by a corresponding ball/pivot joint 16169.
The horizontal gear arrangement 16180 includes a horizontal driven gear 16182 that is pivotally mounted on a horizontal shaft 16181 that is attached to a proximal portion of the proximal spine portion 16110. The proximal end of the horizontal push cable 16172 is pivotally attached to the horizontal driven gear 16182 such that, as the horizontal driven gear 16172 is rotated about horizontal pivot axis HA, the horizontal push cable 16172 applies a first pivot motion to the articulation control ring 16164. Likewise, the vertical gear arrangement 16190 includes a vertical driven gear 16192 that is pivotally supported on a vertical shaft 16191 attached to the proximal portion of the proximal spine portion 16110 for pivotal travel about a vertical pivot axis VA. The proximal end of the vertical push cable 16174 is pivotally attached to the vertical driven gear 16192 such that as the vertical driven gear 16192 is rotated about vertical pivot axis VA, the vertical push cable 16174 applies a second pivot motion to the articulation control ring 16164.
The horizontal driven gear 16182 and the vertical driven gear 16192 are driven by an articulation gear train 16300 that operably interfaces with an articulation shifter assembly 16320. In at least one form, the articulation shifter assembly comprises an articulation drive gear 16322 that is coupled to a corresponding one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202. See FIG. 210. Thus, application of a rotary input motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding driven element 11304 will cause rotation of the articulation drive gear 16322 when the interface 11230 is coupled to the tool holder 11270. An articulation driven gear 16324 is attached to a splined shifter shaft 16330 that is rotatably supported on the tool mounting plate 16202. The articulation driven gear 16324 is in meshing engagement with the articulation drive gear 16322 as shown. Thus, rotation of the articulation drive gear 16322 will result in the rotation of the shaft 16330. In various forms, a shifter driven gear assembly 16340 is movably supported on the splined portion 16332 of the shifter shaft 16330.
In various embodiments, the shifter driven gear assembly 16340 includes a driven shifter gear 16342 that is attached to a shifter plate 16344. The shifter plate 16344 operably interfaces with a shifter solenoid assembly 16350. The shifter solenoid assembly 16350 is coupled to corresponding pins 16352 by conductors 16352. See FIG. 210. Pins 16352 are oriented to electrically communicate with slots 11258 (FIG. 104) on the tool side 11244 of the adaptor 11240. Such arrangement serves to electrically couple the shifter solenoid assembly 16350 to the robotic controller 11001. Thus, activation of the shifter solenoid 16350 will shift the shifter driven gear assembly 16340 on the splined portion 16332 of the shifter shaft 16330 as represented by arrow “S” in FIGS. 210 and 211. Various embodiments of the articulation gear train 16300 further include a horizontal gear assembly 16360 that includes a first horizontal drive gear 16362 that is mounted on a shaft 16361 that is rotatably attached to the tool mounting plate 16202. The first horizontal drive gear 16362 is supported in meshing engagement with a second horizontal drive gear 16364. As can be seen in FIG. 211, the horizontal driven gear 16182 is in meshing engagement with the distal face portion 16365 of the second horizontal driven gear 16364.
Various embodiments of the articulation gear train 16300 further include a vertical gear assembly 16370 that includes a first vertical drive gear 16372 that is mounted on a shaft 16371 that is rotatably supported on the tool mounting plate 16202. The first vertical drive gear 16372 is supported in meshing engagement with a second vertical drive gear 16374 that is concentrically supported with the second horizontal drive gear 16364. The second vertical drive gear 16374 is rotatably supported on the proximal spine portion 16110 for travel therearound. The second horizontal drive gear 16364 is rotatably supported on a portion of said second vertical drive gear 16374 for independent rotatable travel thereon. As can be seen in FIG. 211, the vertical driven gear 16192 is in meshing engagement with the distal face portion 16375 of the second vertical driven gear 16374.
In various forms, the first horizontal drive gear 16362 has a first diameter and the first vertical drive gear 16372 has a second diameter. As can be seen in FIGS. 210 and 211, the shaft 16361 is not on a common axis with shaft 16371. That is, the first horizontal driven gear 16362 and the first vertical driven gear 16372 do not rotate about a common axis. Thus, when the shifter gear 16342 is positioned in a center “locking” position such that the shifter gear 16342 is in meshing engagement with both the first horizontal driven gear 16362 and the first vertical drive gear 16372, the components of the articulation system 16140 are locked in position. Thus, the shiftable shifter gear 16342 and the arrangement of first horizontal and vertical drive gears 16362, 16372 as well as the articulation shifter assembly 16320 collectively may be referred to as an articulation locking system, generally designated as 16380.
In use, the robotic controller 11001 of the robotic system 11000 may control the articulation system 16140 as follows. To articulate the end effector 16012 to the left about the first tool articulation axis TA1-TA1, the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362. Thereafter, the controller 11001 causes a first rotary output motion to be applied to the articulation drive gear 16322 to drive the shifter gear in a first direction to ultimately drive the horizontal driven gear 16182 in another first direction. The horizontal driven gear 16182 is driven to pivot the articulation ring 16164 on the ball-shaped portion 16162 to thereby pull right upper cable 16144 and the right lower cable 16146 in the proximal direction “PD”. To articulate the end effector 16012 to the right about the first tool articulation axis TA1-TA1, the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362. Thereafter, the controller 11001 causes the first rotary output motion in an opposite direction to be applied to the articulation drive gear 16322 to drive the shifter gear 16342 in a second direction to ultimately drive the horizontal driven gear 16182 in another second direction. Such actions result in the articulation control ring 16164 moving in such a manner as to pull the left upper cable 16150 and the left lower cable 16152 in the proximal direction “PD”. In various embodiments the gear ratios and frictional forces generated between the gears of the vertical gear assembly 16370 serve to prevent rotation of the vertical driven gear 16192 as the horizontal gear assembly 16360 is actuated.
To articulate the end effector 16012 in the upper direction about the second tool articulation axis TA2-TA2, the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first vertical drive gear 16372. Thereafter, the controller 11001 causes the first rotary output motion to be applied to the articulation drive gear 16322 to drive the shifter gear 16342 in a first direction to ultimately drive the vertical driven gear 16192 in another first direction. The vertical driven gear 16192 is driven to pivot the articulation ring 16164 on the ball-shaped portion 16162 of the proximal spine portion 16110 to thereby pull right upper cable 16144 and the left upper cable 16150 in the proximal direction “PD”. To articulate the end effector 16012 in the downward direction about the second tool articulation axis TA2-TA2, the robotic controller 11001 activates the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first vertical drive gear 16372. Thereafter, the controller 11001 causes the first rotary output motion to be applied in an opposite direction to the articulation drive gear 16322 to drive the shifter gear 16342 in a second direction to ultimately drive the vertical driven gear 16192 in another second direction. Such actions thereby cause the articulation control ring 16164 to pull the right lower cable 16146 and the left lower cable 16152 in the proximal direction “PD”. In various embodiments, the gear ratios and frictional forces generated between the gears of the horizontal gear assembly 16360 serve to prevent rotation of the horizontal driven gear 16182 as the vertical gear assembly 16370 is actuated.
In various embodiments, a variety of sensors may communicate with the robotic controller 11001 to determine the articulated position of the end effector 16012. Such sensors may interface with, for example, the articulation joint 16100 or be located within the tool mounting portion 16200. For example, sensors may be employed to detect the position of the articulation control ring 16164 on the ball-shaped portion 16162 of the proximal spine portion 16110. Such feedback from the sensors to the controller 11001 permits the controller 11001 to adjust the amount of rotation and the direction of the rotary output to the articulation drive gear 16322. Further, as indicated above, when the shifter drive gear 16342 is centrally positioned in meshing engagement with the first horizontal drive gear 16362 and the first vertical drive gear 16372, the end effector 16012 is locked in the articulated position. Thus, after the desired amount of articulation has been attained, the controller 11001 may activate the shifter solenoid assembly 16350 to bring the shifter gear 16342 into meshing engagement with the first horizontal drive gear 16362 and the first vertical drive gear 16372. In alternative embodiments, the shifter solenoid assembly 16350 may be spring activated to the central locked position.
In use, it may be desirable to rotate the surgical end effector 16012 about the longitudinal tool axis LT-LT. In at least one embodiment, the transmission arrangement 16204 on the tool mounting portion includes a rotational transmission assembly 16400 that is configured to receive a corresponding rotary output motion from the tool drive assembly 11010 of the robotic system 11000 and convert that rotary output motion to a rotary control motion for rotating the elongated shaft assembly 16008 (and surgical end effector 16012) about the longitudinal tool axis LT-LT. In various embodiments, for example, a proximal end portion 16041 of the proximal closure tube 16040 is rotatably supported on the tool mounting plate 16202 of the tool mounting portion 16200 by a forward support cradle 16205 and a closure sled 16510 that is also movably supported on the tool mounting plate 16202. In at least one form, the rotational transmission assembly 16400 includes a tube gear segment 16402 that is formed on (or attached to) the proximal end 16041 of the proximal closure tube 16040 for operable engagement by a rotational gear assembly 16410 that is operably supported on the tool mounting plate 16202. As can be seen in FIG. 210, the rotational gear assembly 16410, in at least one embodiment, comprises a rotation drive gear 16412 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202 when the tool mounting portion 16200 is coupled to the tool drive assembly 11010. See FIG. 105. The rotational gear assembly 16410 further comprises a first rotary driven gear 16414 that is rotatably supported on the tool mounting plate 16202 in meshing engagement with the rotation drive gear 16412. The first rotary driven gear 16414 is attached to a drive shaft 16416 that is rotatably supported on the tool mounting plate 16202. A second rotary driven gear 16418 is attached to the drive shaft 16416 and is in meshing engagement with tube gear segment 16402 on the proximal closure tube 16040. Application of a second rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding driven element 11304 will thereby cause rotation of the rotation drive gear 16412. Rotation of the rotation drive gear 16412 ultimately results in the rotation of the elongated shaft assembly 16008 (and the surgical end effector 16012) about the longitudinal tool axis LT-LT. It will be appreciated that the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the rotation of the elongated shaft assembly 16008 and surgical end effector 16012 about the longitudinal tool axis LT-LT in a first direction and an application of the rotary output motion in an opposite direction will result in the rotation of the elongated shaft assembly 16008 and surgical end effector 16012 in a second direction that is opposite to the first direction.
In at least one embodiment, the closure of the anvil 12024 relative to the staple cartridge 12034 is accomplished by axially moving a closure portion of the elongated shaft assembly 12008 in the distal direction “DD” on the spine assembly 12049. As indicated above, in various embodiments, the proximal end portion 16041 of the proximal closure tube 16040 is supported by the closure sled 16510 which comprises a portion of a closure transmission, generally depicted as 16512. As can be seen in FIG. 210, the proximal end portion 16041 of the proximal closure tube portion 16040 has a collar 6048 formed thereon. The closure sled 16510 is coupled to the collar 16048 by a yoke 16514 that engages an annular groove 16049 in the collar 16048. Such arrangement serves to enable the collar 16048 to rotate about the longitudinal tool axis LT-LT while still being coupled to the closure transmission 16512. In various embodiments, the closure sled 16510 has an upstanding portion 16516 that has a closure rack gear 16518 formed thereon. The closure rack gear 16518 is configured for driving engagement with a closure gear assembly 16520. See FIG. 210.
In various forms, the closure gear assembly 16520 includes a closure spur gear 16522 that is coupled to a corresponding second one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202. See FIG. 210. Thus, application of a third rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 16522 when the tool mounting portion 16202 is coupled to the tool drive assembly 11010. The closure gear assembly 16520 further includes a closure reduction gear set 16524 that is supported in meshing engagement with the closure spur gear 16522 and the closure rack gear 12106. Thus, application of a third rotary output motion from the tool drive assembly 11010 of the robotic system 11000 to the corresponding second driven element 11304 will cause rotation of the closure spur gear 16522 and the closure transmission 16512 and ultimately drive the closure sled 16510 and the proximal closure tube 16040 axially on the proximal spine portion 16110. The axial direction in which the proximal closure tube 16040 moves ultimately depends upon the direction in which the third driven element 11304 is rotated. For example, in response to one rotary output motion received from the tool drive assembly 11010 of the robotic system 11000, the closure sled 16510 will be driven in the distal direction “DD” and ultimately drive the proximal closure tube 16040 in the distal direction “DD”. As the proximal closure tube 16040 is driven distally, the distal closure tube 16042 is also driven distally by virtue of it connection with the proximal closure tube 16040. As the distal closure tube 16042 is driven distally, the end of the closure tube 16042 will engage a portion of the anvil 16024 and cause the anvil 16024 to pivot to a closed position. Upon application of an “opening” out put motion from the tool drive assembly 11010 of the robotic system 11000, the closure sled 16510 and the proximal closure tube 16040 will be driven in the proximal direction “PD” on the proximal spine portion 16110. As the proximal closure tube 16040 is driven in the proximal direction “PD”, the distal closure tube 16042 will also be driven in the proximal direction “PD”. As the distal closure tube 16042 is driven in the proximal direction “PD”, the opening 16045 therein interacts with the tab 16027 on the anvil 16024 to facilitate the opening thereof. In various embodiments, a spring (not shown) may be employed to bias the anvil 16024 to the open position when the distal closure tube 16042 has been moved to its starting position. In various embodiments, the various gears of the closure gear assembly 16520 are sized to generate the necessary closure forces needed to satisfactorily close the anvil 16024 onto the tissue to be cut and stapled by the surgical end effector 16012. For example, the gears of the closure transmission 16520 may be sized to generate approximately 70-120 pounds of closure forces.
In various embodiments, the cutting instrument is driven through the surgical end effector 16012 by a knife bar 16530. See FIG. 210. In at least one form, the knife bar 16530 is fabricated with a joint arrangement (not shown) and/or is fabricated from material that can accommodate the articulation of the surgical end effector 16102 about the first and second tool articulation axes while remaining sufficiently rigid so as to push the cutting instrument through tissue clamped in the surgical end effector 16012. The knife bar 16530 extends through a hollow passage 16532 in the proximal spine portion 16110.
In various embodiments, a proximal end 16534 of the knife bar 16530 is rotatably affixed to a knife rack gear 16540 such that the knife bar 16530 is free to rotate relative to the knife rack gear 16540. The distal end of the knife bar 16530 is attached to the cutting instrument in the various manners described above. As can be seen in FIG. 210, the knife rack gear 16540 is slidably supported within a rack housing 16542 that is attached to the tool mounting plate 16202 such that the knife rack gear 16540 is retained in meshing engagement with a knife drive transmission portion 16550 of the transmission arrangement 16204. In various embodiments, the knife drive transmission portion 16550 comprises a knife gear assembly 16560. More specifically and with reference to FIG. 210, in at least one embodiment, the knife gear assembly 16560 includes a knife spur gear 16562 that is coupled to a corresponding fourth one of the driven discs or elements 11304 on the adapter side 11307 of the tool mounting plate 16202. See FIG. 105. Thus, application of another rotary output motion from the robotic system 11000 through the tool drive assembly 11010 to the corresponding fourth driven element 11304 will cause rotation of the knife spur gear 16562. The knife gear assembly 16560 further includes a knife gear reduction set 16564 that includes a first knife driven gear 16566 and a second knife drive gear 16568. The knife gear reduction set 16564 is rotatably mounted to the tool mounting plate 16202 such that the firs knife driven gear 16566 is in meshing engagement with the knife spur gear 16562. Likewise, the second knife drive gear 16568 is in meshing engagement with a third knife drive gear assembly 16570. As shown in FIG. 210, the second knife driven gear 16568 is in meshing engagement with a fourth knife driven gear 16572 of the third knife drive gear assembly 16570. The fourth knife driven gear 16572 is in meshing engagement with a fifth knife driven gear assembly 16574 that is in meshing engagement with the knife rack gear 16540. In various embodiments, the gears of the knife gear assembly 16560 are sized to generate the forces needed to drive the cutting instrument through the tissue clamped in the surgical end effector 16012 and actuate the staples therein. For example, the gears of the knife gear assembly 16560 may be sized to generate approximately 40 to 100 pounds of driving force. It will be appreciated that the application of a rotary output motion from the tool drive assembly 11010 in one direction will result in the axial movement of the cutting instrument in a distal direction and application of the rotary output motion in an opposite direction will result in the axial travel of the cutting instrument in a proximal direction.
As can be appreciated from the foregoing description, the surgical tool 16000 represents a vast improvement over prior robotic tool arrangements. The unique and novel transmission arrangement employed by the surgical tool 16000 enables the tool to be operably coupled to a tool holder portion 11010 of a robotic system that only has four rotary output bodies, yet obtain the rotary output motions therefrom to: (i) articulate the end effector about two different articulation axes that are substantially transverse to each other as well as the longitudinal tool axis; (ii) rotate the end effector 16012 about the longitudinal tool axis; (iii) close the anvil 16024 relative to the surgical staple cartridge 16034 to varying degrees to enable the end effector 16012 to be used to manipulate tissue and then clamp it into position for cutting and stapling; and (iv) firing the cutting instrument to cut through the tissue clamped within the end effector 16012. The unique and novel shifter arrangements of various embodiments of the present invention described above enable two different articulation actions to be powered from a single rotatable body portion of the robotic system.
The various embodiments of the present invention have been described above in connection with cutting-type surgical instruments. It should be noted, however, that in other embodiments, the inventive surgical instrument disclosed herein need not be a cutting-type surgical instrument, but rather could be used in any type of surgical instrument including remote sensor transponders. For example, it could be a non-cutting endoscopic instrument, a grasper, a stapler, a clip applier, an access device, a drug/gene therapy delivery device, an energy device using ultrasound, RF, laser, etc. In addition, the present invention may be in laparoscopic instruments, for example. The present invention also has application in conventional endoscopic and open surgical instrumentation as well as robotic-assisted surgery.
FIG. 211 depicts use of various aspects of certain embodiments of the present invention in connection with a surgical tool 17000 that has an ultrasonically powered end effector 17012. The end effector 17012 is operably attached to a tool mounting portion 17100 by an elongated shaft assembly 17008. The tool mounting portion 17100 may be substantially similar to the various tool mounting portions described hereinabove. In one embodiment, the end effector 17012 includes an ultrasonically powered jaw portion 17014 that is powered by alternating current or direct current in a known manner. Such ultrasonically-powered devices are disclosed, for example, in U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool With Ultrasound Cauterizing and Cutting Instrument”, the entire disclosure of which is herein incorporated by reference. In the illustrated embodiment, a separate power cord 17020 is shown. It will be understood, however, that the power may be supplied thereto from the robotic controller 1001 through the tool mounting portion 17100. The surgical end effector 17012 further includes a movable jaw 17016 that may be used to clamp tissue onto the ultrasonic jaw portion 17014. The movable jaw portion 17016 may be selectively actuated by the robotic controller 11001 through the tool mounting portion 17100 in anyone of the various manners herein described.
FIG. 213 illustrates use of various aspects of certain embodiments of the present invention in connection with a surgical tool 18000 that has an end effector 18012 that comprises a linear stapling device. The end effector 18012 is operably attached to a tool mounting portion 18100 by an elongated shaft assembly 13700 of the type and construction describe above. However, the end effector 18012 may be attached to the tool mounting portion 18100 by a variety of other elongated shaft assemblies described herein. In one embodiment, the tool mounting portion 18100 may be substantially similar to tool mounting portion 13750. However, various other tool mounting portions and their respective transmission arrangements describe in detail herein may also be employed. Such linear stapling head portions are also disclosed, for example, in U.S. Pat. No. 7,673,781, entitled “Surgical Stapling Device With Staple Driver That Supports Multiple Wire Diameter Staples”, the entire disclosure of which is herein incorporated by reference.
Various sensor embodiments described in U.S. Patent Publication No. 2011/0062212 A1 to Shelton, IV et al., the disclosure of which is herein incorporated by reference in its entirety, may be employed with many of the surgical tool embodiments disclosed herein. As was indicated above, the master controller 11001 generally includes master controllers (generally represented by 11003) which are grasped by the surgeon and manipulated in space while the surgeon views the procedure via a stereo display 11002. See FIG. 96. The master controllers 11001 are manual input devices which preferably move with multiple degrees of freedom, and which often further have an actuatable handle for actuating the surgical tools. Some of the surgical tool embodiments disclosed herein employ a motor or motors in their tool drive portion to supply various control motions to the tool's end effector. Such embodiments may also obtain additional control motion(s) from the motor arrangement employed in the robotic system components. Other embodiments disclosed herein obtain all of the control motions from motor arrangements within the robotic system.
Such motor powered arrangements may employ various sensor arrangements that are disclosed in the published US patent application cited above to provide the surgeon with a variety of forms of feedback without departing from the spirit and scope of the present invention. For example, those master controller arrangements 11003 that employ a manually actuatable firing trigger can employ run motor sensor(s) to provide the surgeon with feedback relating to the amount of force applied to or being experienced by the cutting member. The run motor sensor(s) may be configured for communication with the firing trigger portion to detect when the firing trigger portion has been actuated to commence the cutting/stapling operation by the end effector. The run motor sensor may be a proportional sensor such as, for example, a rheostat or variable resistor. When the firing trigger is drawn in, the sensor detects the movement, and sends an electrical signal indicative of the voltage (or power) to be supplied to the corresponding motor. When the sensor is a variable resistor or the like, the rotation of the motor may be generally proportional to the amount of movement of the firing trigger. That is, if the operator only draws or closes the firing trigger in a small amount, the rotation of the motor is relatively low. When the firing trigger is fully drawn in (or in the fully closed position), the rotation of the motor is at its maximum. In other words, the harder the surgeon pulls on the firing trigger, the more voltage is applied to the motor causing greater rates of rotation. Other arrangements may provide the surgeon with a feed back meter 11005 that may be viewed through the display 1002 and provide the surgeon with a visual indication of the amount of force being applied to the cutting instrument or dynamic clamping member. Other sensor arrangements may be employed to provide the master controller 11001 with an indication as to whether a staple cartridge has been loaded into the end effector, whether the anvil has been moved to a closed position prior to firing, etc.
In alternative embodiments, a motor-controlled interface may be employed in connection with the controller 11001 that limit the maximum trigger pull based on the amount of loading (e.g., clamping force, cutting force, etc.) experienced by the surgical end effector. For example, the harder it is to drive the cutting instrument through the tissue clamped within the end effector, the harder it would be to pull/actuate the activation trigger. In still other embodiments, the trigger on the controller 11001 is arranged such that the trigger pull location is proportionate to the end effector-location/condition. For example, the trigger is only fully depressed when the end effector is fully fired.
The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
Although the present invention has been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. For example, different types of end effectors may be employed. Also, where materials are disclosed for certain components, other materials may be used. The foregoing description and following claims are intended to cover all such modification and variations.
Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Claims (17)

What is claimed is:
1. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
a surgical end effector comprising an anvil that is selectively movable between first and second positions relative to a surgical staple cartridge;
a cable drive assembly configured to apply at least one control motion to said anvil, said cable drive assembly comprising:
a closure cable operably interfacing with said anvil to apply a closing motion and an opening motion thereto; and
a cable drive transmission configured to operably interface with at least one of the rotary body portions of the tool drive assembly, said surgical tool further comprising:
a tool mounting portion operably interfacing with said cable drive assembly and the at least one rotary body portion of the tool drive assembly of the robotic system such that application of at least one of the rotary output motions to the rotatable body portion causes said cable drive assembly to apply at least one of said closing and opening motions to said anvil;
an elongated shaft assembly extending between said surgical end effector and said cable drive transmission; and
a preclamping collar axially movable on said elongated shaft assembly and interfacing with said anvil and said closure cable such that said application of said rotary output motion to the rotatable body portion in a first rotary direction causes said preclamping collar to apply said closing motion to said anvil and upon another application of said rotary output motion to the rotatable body portion in a second rotary direction causes said preclamping collar to apply said opening motion to said anvil.
2. The surgical tool of claim 1 further comprising a tissue cutting member that is axially movable within said surgical staple cartridge between a starting position and an ending position in response to a firing motion applied thereto by said cable drive assembly.
3. The surgical tool of claim 2 further comprising a firing cable operably interfacing with said tissue cutting member and said cable drive transmission and wherein said cable drive transmission is selectively shiftable between a closure position wherein said application of said rotary output motion to the rotatable body portion in said first rotary direction causes said closure cable to apply said closing motion to said anvil and upon said another rotary output motion to the rotatable body portion in said second rotary direction causes said closure cable to apply said opening motion to said anvil and a firing position wherein said application of said rotary output motion to the rotatable body portion in said first rotary direction causes said firing cable to apply a firing motion to said tissue cutting member and upon said another application of said rotary output motion to the rotatable body portion in said second rotary direction causes said firing cable to apply a retraction motion to said tissue cutting member.
4. The surgical tool of claim 3 further comprising a shifter motor operably interfacing with said cable drive transmission for moving said cable drive transmission between said closure position and said firing position in response to corresponding control signals applied thereto from the control unit of the robotic system.
5. The surgical tool of claim 3 further comprising:
a firing brake engageable with said cable drive transmission to prevent said firing cable from applying said firing motion to said tissue cutting member when said cable drive transmission is in said closure position; and
a closure brake engageable with said cable drive transmission to prevent said closure cable from applying said opening motion to said anvil when said cable drive transmission is in said firing position.
6. The surgical tool of claim 1 further comprising a tissue cutting member that is axially movable within said surgical staple cartridge between a starting position and an ending position in response to a firing motion applied thereto by said cable drive assembly and wherein said surgical tool further comprises a knife bar operably interfacing with said cable drive assembly and the at least one rotary body portion of the tool drive assembly of the robotic system such that application of said at least one of the rotary output motions to the rotatable body portion causes said knife bar to apply a firing control motion to said cable drive assembly.
7. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
a surgical end effector comprising:
a non-movable portion;
a first movable component portion that is selectively movable between first and second positions relative to said non-movable portion;
a second movable component portion that is selectively movable between third and fourth positions relative to said non-movable portion and wherein said surgical tool further comprises:
an elongated shaft assembly operably coupled to said non-movable portion, said elongated shaft assembly at least partially operably supporting a cable drive assembly comprising:
a first cable operably interfacing with said first movable component portion; and
a second cable operably interfacing with said second movable component portion and wherein said surgical tool further comprises:
a tool mounting portion operably coupled to said elongated shaft assembly, said tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising:
a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of said at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and
a cable drive transmission assembly operably interfacing with said driven element and being selectively shiftable in response to control signals from the control unit of the robotic system between a first actuation position wherein an application of one of said rotary output motions to the corresponding rotatable body portion causes said first cable to move said first movable component portion between said first and second positions and a second actuation position wherein said application of said one of said rotary output motions to the corresponding rotatable body portion causes said second cable to move said second movable component portion between said third and fourth positions.
8. The surgical tool of claim 7 wherein an application of said one of said rotary output motions in a first rotary direction causes said first movable component portion to move from said first position to said second position when said cable drive transmission assembly is in said first actuation position and another application of said one of said rotary output motions in said first rotary direction causes said second movable component portion to move from said third position to said fourth position when said cable drive transmission assembly is in said second actuation position.
9. The surgical tool of claim 7 further comprising:
a first brake engageable with said cable drive transmission assembly to prevent said first cable from moving said first movable component portion between said first and second positions when said cable drive transmission assembly is in said second actuation position; and
a second brake engageable with said cable drive transmission assembly to prevent said second cable from moving said second movable component portion between said third and fourth positions when said cable drive transmission assembly is in said first actuation position.
10. The surgical tool of claim 9 wherein said cable drive transmission assembly is movable between said first and second actuation positions and a neutral position and wherein when said cable drive transmission assembly is in said neutral position, said first brake prevents said first cable from moving said first movable component portion between said first and second positions and said second brake prevents said second cable from moving said second movable component portion between said third and fourth positions.
11. The surgical tool of claim 7 further comprising a shifter motor operably supported by said tool mounting portion and interfacing with said cable drive transmission assembly and the control unit of the robotic system.
12. The surgical tool of claim 11 wherein said shifter motor is powered by at least one battery.
13. A surgical tool for use with a robotic system that has a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to provide at least one rotary output motion to at least one rotatable body portion supported on the tool drive assembly, said surgical tool comprising:
a surgical end effector comprising:
an elongated channel configured to support a surgical staple cartridge;
an anvil movably supported relative to the elongated channel and being selectively movable between open and closed positions relative to said elongated channel; and
a tissue cutting member selectively axially movable between unfired and fired positions and wherein said surgical tool further comprises:
an elongated shaft assembly operably coupled to said elongated channel;
a preclamping collar axially movable on said elongated shaft assembly for selective operable engagement with said anvil;
a closure cable operably interfacing with said preclamping collar; and
a firing cable operably interfacing with said tissue cutting member;
a tool mounting portion operably coupled to said elongated shaft assembly, said tool mounting portion being configured to operably interface with the tool drive assembly when coupled thereto, said tool mounting portion comprising:
a driven element rotatably supported on said tool mounting portion and configured for driving engagement with a corresponding one of said at least one rotatable body portions of the tool drive assembly to receive corresponding rotary output motions therefrom; and
a cable drive transmission assembly operably interfacing with said driven element and being selectively shiftable in response to control signals from the control unit of the robotic system between a closure position wherein an application of one of said rotary output motions to the corresponding rotatable body portion in a first rotary direction causes said closure cable to move said preclamping collar into closing engagement with said anvil and a firing position wherein said application of said one of said rotary output motions in said first rotary direction to the corresponding rotatable body portion causes said firing cable to move said tissue cutting member from a starting position to an ending position within said elongated channel.
14. The surgical tool of claim 13 wherein said application of one of said rotary output motions in a second rotary direction when said cable drive transmission assembly is in said closure position causes said closure cable to move said preclamping collar to move out of said closing engagement with said anvil and when said cable drive transmission assembly is in said firing position, said application of said one of said rotary output motions in said second rotary directions causes said firing cable to move said tissue cutting member from said ending position to said starting position.
15. The surgical tool of claim 14 further comprising:
a closure brake engageable with said cable drive transmission assembly to prevent said closure cable from moving said anvil between said open and closed positions when said cable drive transmission assembly is in said firing position; and
a firing brake engageable with said cable drive transmission assembly to prevent said firing cable from moving said tissue cutting member between said starting and ending positions when said cable drive transmission assembly is in said closure position.
16. The surgical tool of claim 15 wherein said cable drive transmission assembly is movable between said closure and firing positions and a neutral position and wherein when said cable drive transmission assembly is in said neutral position, said closure brake prevents said closure cable from moving said anvil between said open and closed positions and said firing brake prevents said firing cable from moving said tissue cutting member between said starting and ending positions.
17. The surgical tool of claim 16 further comprising a shifter motor operably supported by said tool mounting portion and interfacing with said cable drive transmission assembly and the control unit of the robotic system.
US13/369,629 2005-08-31 2012-02-09 Robotically-controlled cable-based surgical end effectors Active 2025-11-09 US8800838B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/369,629 US8800838B2 (en) 2005-08-31 2012-02-09 Robotically-controlled cable-based surgical end effectors

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US11/216,562 US7669746B2 (en) 2005-08-31 2005-08-31 Staple cartridges for forming staples having differing formed staple heights
US11/711,979 US8317070B2 (en) 2005-08-31 2007-02-28 Surgical stapling devices that produce formed staples having different lengths
US13/118,278 US9237891B2 (en) 2005-08-31 2011-05-27 Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US13/369,629 US8800838B2 (en) 2005-08-31 2012-02-09 Robotically-controlled cable-based surgical end effectors

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US13/118,278 Continuation US9237891B2 (en) 2005-08-31 2011-05-27 Robotically-controlled surgical stapling devices that produce formed staples having different lengths

Publications (2)

Publication Number Publication Date
US20120138660A1 US20120138660A1 (en) 2012-06-07
US8800838B2 true US8800838B2 (en) 2014-08-12

Family

ID=45021253

Family Applications (1)

Application Number Title Priority Date Filing Date
US13/369,629 Active 2025-11-09 US8800838B2 (en) 2005-08-31 2012-02-09 Robotically-controlled cable-based surgical end effectors

Country Status (1)

Country Link
US (1) US8800838B2 (en)

Cited By (1119)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US8973804B2 (en) 2006-09-29 2015-03-10 Ethicon Endo-Surgery, Inc. Cartridge assembly having a buttressing member
US8991677B2 (en) 2008-02-14 2015-03-31 Ethicon Endo-Surgery, Inc. Detachable motor powered surgical instrument
US20150090766A1 (en) * 1997-09-23 2015-04-02 Covidien Lp Surgical Stapling Apparatus Including Sensing Mechanism
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US9055941B2 (en) 2011-09-23 2015-06-16 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US9072515B2 (en) 2008-02-14 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus
US9072536B2 (en) 2012-06-28 2015-07-07 Ethicon Endo-Surgery, Inc. Differential locking arrangements for rotary powered surgical instruments
US9078653B2 (en) 2012-03-26 2015-07-14 Ethicon Endo-Surgery, Inc. Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge
US9078685B2 (en) 2007-02-16 2015-07-14 Globus Medical, Inc. Method and system for performing invasive medical procedures using a surgical robot
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US9101385B2 (en) 2012-06-28 2015-08-11 Ethicon Endo-Surgery, Inc. Electrode connections for rotary driven surgical tools
US9113874B2 (en) 2006-01-31 2015-08-25 Ethicon Endo-Surgery, Inc. Surgical instrument system
US9119657B2 (en) 2012-06-28 2015-09-01 Ethicon Endo-Surgery, Inc. Rotary actuatable closure arrangement for surgical end effector
US9125662B2 (en) 2012-06-28 2015-09-08 Ethicon Endo-Surgery, Inc. Multi-axis articulating and rotating surgical tools
US9138225B2 (en) 2007-06-22 2015-09-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US9198662B2 (en) 2012-03-28 2015-12-01 Ethicon Endo-Surgery, Inc. Tissue thickness compensator having improved visibility
US9204880B2 (en) 2012-03-28 2015-12-08 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising capsules defining a low pressure environment
US9204878B2 (en) 2008-02-14 2015-12-08 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US9204879B2 (en) 2012-06-28 2015-12-08 Ethicon Endo-Surgery, Inc. Flexible drive member
US9211120B2 (en) 2011-04-29 2015-12-15 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of medicaments
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US9220500B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising structure to produce a resilient load
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US9232945B2 (en) 2010-09-09 2016-01-12 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
US9232941B2 (en) 2010-09-30 2016-01-12 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US9272406B2 (en) 2010-09-30 2016-03-01 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a cutting member for releasing a tissue thickness compensator
US9283054B2 (en) 2013-08-23 2016-03-15 Ethicon Endo-Surgery, Llc Interactive displays
US9289210B2 (en) 2008-09-19 2016-03-22 Ethicon Endo-Surgery, Llc Surgical stapler with apparatus for adjusting staple height
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US9289212B2 (en) 2010-09-17 2016-03-22 Ethicon Endo-Surgery, Inc. Surgical instruments and batteries for surgical instruments
US9289206B2 (en) 2007-03-15 2016-03-22 Ethicon Endo-Surgery, Llc Lateral securement members for surgical staple cartridges
US9301759B2 (en) 2006-03-23 2016-04-05 Ethicon Endo-Surgery, Llc Robotically-controlled surgical instrument with selectively articulatable end effector
US9301752B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising a plurality of capsules
US9307988B2 (en) 2005-08-31 2016-04-12 Ethicon Endo-Surgery, Llc Staple cartridges for forming staples having differing formed staple heights
US9307986B2 (en) 2013-03-01 2016-04-12 Ethicon Endo-Surgery, Llc Surgical instrument soft stop
US9307987B2 (en) 2009-12-24 2016-04-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument that analyzes tissue thickness
US9307989B2 (en) 2012-03-28 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorportating a hydrophobic agent
US9314246B2 (en) 2010-09-30 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent
US9320523B2 (en) 2012-03-28 2016-04-26 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising tissue ingrowth features
US9326768B2 (en) 2005-08-31 2016-05-03 Ethicon Endo-Surgery, Llc Staple cartridges for forming staples having differing formed staple heights
US9326769B2 (en) 2006-01-31 2016-05-03 Ethicon Endo-Surgery, Llc Surgical instrument
US9332987B2 (en) 2013-03-14 2016-05-10 Ethicon Endo-Surgery, Llc Control arrangements for a drive member of a surgical instrument
US9332984B2 (en) 2013-03-27 2016-05-10 Ethicon Endo-Surgery, Llc Fastener cartridge assemblies
US9332974B2 (en) 2010-09-30 2016-05-10 Ethicon Endo-Surgery, Llc Layered tissue thickness compensator
EP3017772A2 (en) 2014-11-06 2016-05-11 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a releasable adjunct material
US9345481B2 (en) 2013-03-13 2016-05-24 Ethicon Endo-Surgery, Llc Staple cartridge tissue thickness sensor system
US9358005B2 (en) 2010-09-30 2016-06-07 Ethicon Endo-Surgery, Llc End effector layer including holding features
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9370358B2 (en) 2006-01-31 2016-06-21 Ethicon Endo-Surgery, Llc Motor-driven surgical cutting and fastening instrument with tactile position feedback
US9370364B2 (en) 2008-10-10 2016-06-21 Ethicon Endo-Surgery, Llc Powered surgical cutting and stapling apparatus with manually retractable firing system
US20160184033A1 (en) * 2013-08-15 2016-06-30 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US9386984B2 (en) 2013-02-08 2016-07-12 Ethicon Endo-Surgery, Llc Staple cartridge comprising a releasable cover
US9386985B2 (en) 2012-10-15 2016-07-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument
US9393015B2 (en) 2009-02-06 2016-07-19 Ethicon Endo-Surgery, Llc Motor driven surgical fastener device with cutting member reversing mechanism
US20160287250A1 (en) * 2015-03-31 2016-10-06 Ethicon Endo-Surgery, Llc Surgical instrument with progressive rotary drive systems
US9486214B2 (en) 2009-02-06 2016-11-08 Ethicon Endo-Surgery, Llc Motor driven surgical fastener device with switching system configured to prevent firing initiation until activated
US9492167B2 (en) 2006-03-23 2016-11-15 Ethicon Endo-Surgery, Llc Articulatable surgical device with rotary driven cutting member
US9510830B2 (en) 2004-07-28 2016-12-06 Ethicon Endo-Surgery, Llc Staple cartridge
US9522029B2 (en) 2008-02-14 2016-12-20 Ethicon Endo-Surgery, Llc Motorized surgical cutting and fastening instrument having handle based power source
US9539020B2 (en) 2013-12-27 2017-01-10 Ethicon Endo-Surgery, Llc Coupling features for ultrasonic surgical instrument
US9549735B2 (en) 2013-12-23 2017-01-24 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a firing member including fastener transfer surfaces
US9561038B2 (en) 2012-06-28 2017-02-07 Ethicon Endo-Surgery, Llc Interchangeable clip applier
US9572577B2 (en) 2013-03-27 2017-02-21 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a tissue thickness compensator including openings therein
US9574644B2 (en) 2013-05-30 2017-02-21 Ethicon Endo-Surgery, Llc Power module for use with a surgical instrument
WO2017030826A1 (en) 2015-08-17 2017-02-23 Ethicon Endo-Surgery, Llc Implantable layers for a surgical instrument
US9585660B2 (en) 2010-01-07 2017-03-07 Ethicon Endo-Surgery, Llc Method for testing a surgical tool
US9592053B2 (en) 2010-09-30 2017-03-14 Ethicon Endo-Surgery, Llc Staple cartridge comprising multiple regions
US9592052B2 (en) 2005-08-31 2017-03-14 Ethicon Endo-Surgery, Llc Stapling assembly for forming different formed staple heights
US9597075B2 (en) 2010-07-30 2017-03-21 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US9603598B2 (en) 2007-01-11 2017-03-28 Ethicon Endo-Surgery, Llc Surgical stapling device with a curved end effector
US9603991B2 (en) 2004-07-28 2017-03-28 Ethicon Endo-Surgery, Llc Surgical stapling instrument having a medical substance dispenser
WO2017058603A2 (en) 2015-09-30 2017-04-06 Ethicon Endo-Surgery, Llc Compressible adjunct with attachment regions
US9615826B2 (en) 2010-09-30 2017-04-11 Ethicon Endo-Surgery, Llc Multiple thickness implantable layers for surgical stapling devices
US9622747B2 (en) 2013-02-28 2017-04-18 Ethicon Endo-Surgery, Llc Surgical instrument end effector articulation drive with pinion and opposing racks
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9642620B2 (en) 2013-12-23 2017-05-09 Ethicon Endo-Surgery, Llc Surgical cutting and stapling instruments with articulatable end effectors
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
US9655617B2 (en) 2007-08-31 2017-05-23 Covidien Lp Surgical instrument
US9655614B2 (en) 2008-09-23 2017-05-23 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument with an end effector
US9681870B2 (en) 2013-12-23 2017-06-20 Ethicon Llc Articulatable surgical instruments with separate and distinct closing and firing systems
US9687231B2 (en) 2008-02-13 2017-06-27 Ethicon Llc Surgical stapling instrument
US9690362B2 (en) 2014-03-26 2017-06-27 Ethicon Llc Surgical instrument control circuit having a safety processor
US9687236B2 (en) 2010-10-01 2017-06-27 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US9693774B2 (en) 2014-06-25 2017-07-04 Ethicon Llc Pivotable articulation joint unlocking feature for surgical stapler
US9707033B2 (en) 2013-03-13 2017-07-18 Ethicon Endo-Surgery, Llc Electrosurgical device with disposable shaft having modular subassembly
US9724098B2 (en) 2012-03-28 2017-08-08 Ethicon Endo-Surgery, Llc Staple cartridge comprising an implantable layer
US9724092B2 (en) 2013-12-23 2017-08-08 Ethicon Llc Modular surgical instruments
US9724094B2 (en) 2014-09-05 2017-08-08 Ethicon Llc Adjunct with integrated sensors to quantify tissue compression
US9743928B2 (en) 2006-01-31 2017-08-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US9743929B2 (en) 2014-03-26 2017-08-29 Ethicon Llc Modular powered surgical instrument with detachable shaft assemblies
US9757123B2 (en) 2007-01-10 2017-09-12 Ethicon Llc Powered surgical instrument having a transmission system
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US9793624B2 (en) 2013-12-24 2017-10-17 Ppc Broadband, Inc. Connector having an inner conductor engager
US9795405B2 (en) 2012-10-22 2017-10-24 Ethicon Llc Surgical instrument
US9795382B2 (en) 2005-08-31 2017-10-24 Ethicon Llc Fastener cartridge assembly comprising a cam and driver arrangement
US9795384B2 (en) 2013-03-27 2017-10-24 Ethicon Llc Fastener cartridge comprising a tissue thickness compensator and a gap setting element
US9801628B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US9814462B2 (en) 2010-09-30 2017-11-14 Ethicon Llc Assembly for fastening tissue comprising a compressible layer
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
US9826978B2 (en) 2010-09-30 2017-11-28 Ethicon Llc End effectors with same side closure and firing motions
US9833241B2 (en) 2014-04-16 2017-12-05 Ethicon Llc Surgical fastener cartridges with driver stabilizing arrangements
US9839429B2 (en) 2008-02-15 2017-12-12 Ethicon Endo-Surgery, Llc Stapling system comprising a lockout
US9839427B2 (en) 2005-08-31 2017-12-12 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and a staple driver arrangement
US9839428B2 (en) 2013-12-23 2017-12-12 Ethicon Llc Surgical cutting and stapling instruments with independent jaw control features
US9839423B2 (en) 2014-02-24 2017-12-12 Ethicon Llc Implantable layers and methods for modifying the shape of the implantable layers for use with a surgical fastening instrument
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9848937B2 (en) 2014-12-22 2017-12-26 Ethicon Llc End effector with detectable configurations
US9861359B2 (en) 2006-01-31 2018-01-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US9867613B2 (en) 2013-12-19 2018-01-16 Covidien Lp Surgical staples and end effectors for deploying the same
US9888942B1 (en) 2014-12-19 2018-02-13 Ethicon Llc Adaptor for robotics cannula and seal assembly
US9895147B2 (en) 2005-11-09 2018-02-20 Ethicon Llc End effectors for surgical staplers
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US9913645B2 (en) 2013-02-28 2018-03-13 Ethicon Llc Lockout feature for movable cutting member of surgical instrument
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
US9918717B2 (en) 2015-03-18 2018-03-20 Covidien Lp Pivot mechanism for surgical device
US9918704B2 (en) 2011-03-14 2018-03-20 Ethicon Llc Surgical instrument
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US9931118B2 (en) 2015-02-27 2018-04-03 Ethicon Endo-Surgery, Llc Reinforced battery for a surgical instrument
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US9987012B2 (en) 2015-07-21 2018-06-05 Covidien Lp Small diameter cartridge design for a surgical stapling instrument
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US9999423B2 (en) 2014-06-25 2018-06-19 Ethicon Llc Translatable articulation joint unlocking feature for surgical stapler
US10004498B2 (en) 2006-01-31 2018-06-26 Ethicon Llc Surgical instrument comprising a plurality of articulation joints
USD822206S1 (en) 2016-06-24 2018-07-03 Ethicon Llc Surgical fastener
US10028744B2 (en) 2015-08-26 2018-07-24 Ethicon Llc Staple cartridge assembly including staple guides
US10039529B2 (en) 2010-09-17 2018-08-07 Ethicon Llc Power control arrangements for surgical instruments and batteries
US10039545B2 (en) 2015-02-23 2018-08-07 Covidien Lp Double fire stapling
US10039532B2 (en) 2015-05-06 2018-08-07 Covidien Lp Surgical instrument with articulation assembly
US10045776B2 (en) 2015-03-06 2018-08-14 Ethicon Llc Control techniques and sub-processor contained within modular shaft with select control processing from handle
US10045782B2 (en) 2015-07-30 2018-08-14 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
US10052102B2 (en) 2015-06-18 2018-08-21 Ethicon Llc Surgical end effectors with dual cam actuated jaw closing features
USD826405S1 (en) 2016-06-24 2018-08-21 Ethicon Llc Surgical fastener
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10058963B2 (en) 2006-01-31 2018-08-28 Ethicon Llc Automated end effector component reloading system for use with a robotic system
US10064620B2 (en) 2014-06-25 2018-09-04 Ethicon Llc Method of unlocking articulation joint in surgical stapler
US10064622B2 (en) 2015-07-29 2018-09-04 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-based motor control
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
USD829902S1 (en) 2015-02-26 2018-10-02 Covidien Lp Shipping wedge
US10085745B2 (en) 2015-10-29 2018-10-02 Ethicon Llc Extensible buttress assembly for surgical stapler
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10085749B2 (en) 2015-02-26 2018-10-02 Covidien Lp Surgical apparatus with conductor strain relief
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10111660B2 (en) 2015-12-03 2018-10-30 Covidien Lp Surgical stapler flexible distal tip
US10117667B2 (en) 2010-02-11 2018-11-06 Ethicon Llc Control systems for ultrasonically powered surgical instruments
US10117650B2 (en) 2015-05-05 2018-11-06 Covidien Lp Adapter assembly and loading units for surgical stapling devices
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10130363B2 (en) 2010-09-29 2018-11-20 Ethicon Llc Staple cartridge
US10130359B2 (en) 2006-09-29 2018-11-20 Ethicon Llc Method for forming a staple
US10136891B2 (en) 2015-03-25 2018-11-27 Ethicon Llc Naturally derived bioabsorbable polymer gel adhesive for releasably attaching a staple buttress to a surgical stapler
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
WO2018217595A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having electrical circuits with shared return path
WO2018217547A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument with clamp arm position input and method for identifying tissue state
US10154852B2 (en) 2015-07-01 2018-12-18 Ethicon Llc Ultrasonic surgical blade with improved cutting and coagulation features
US10166023B2 (en) 2015-08-24 2019-01-01 Ethicon Llc Method of applying a buttress to a surgical stapler end effector
EP3420983A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Needle guide instrument with transverse suture capture feature
EP3420982A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Suture grasping instrument
EP3420922A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Suture passing instrument with puncture site identification feature
EP3420986A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar with oblique needle insertion port and coplanar stopcock
EP3420984A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar obturator with detachable rotary tissue fastener
EP3420985A2 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar with oblique needle insertion port and perpendicular seal latch
EP3420919A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar obturator with transverse needle ports
EP3420987A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Surgical port with wound closure channels
US10172615B2 (en) 2015-05-27 2019-01-08 Covidien Lp Multi-fire push rod stapling device
US10172669B2 (en) 2009-10-09 2019-01-08 Ethicon Llc Surgical instrument comprising an energy trigger lockout
US10172618B2 (en) 2015-03-25 2019-01-08 Ethicon Llc Low glass transition temperature bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10172617B2 (en) 2015-03-25 2019-01-08 Ethicon Llc Malleable bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10172619B2 (en) 2015-09-02 2019-01-08 Ethicon Llc Surgical staple driver arrays
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US10179022B2 (en) 2015-12-30 2019-01-15 Ethicon Llc Jaw position impedance limiter for electrosurgical instrument
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US10194973B2 (en) 2015-09-30 2019-02-05 Ethicon Llc Generator for digitally generating electrical signal waveforms for electrosurgical and ultrasonic surgical instruments
US10194912B2 (en) 2015-07-28 2019-02-05 Ethicon Llc Surgical staple cartridge with outer edge compression features
WO2019027753A1 (en) 2017-07-31 2019-02-07 Ethicon Llc Surgical instrument use indicator
US10201382B2 (en) 2009-10-09 2019-02-12 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US10206738B2 (en) 2013-03-13 2019-02-19 Ethicon Llc Robotic electrosurgical device with disposable shaft
US10206676B2 (en) 2008-02-14 2019-02-19 Ethicon Llc Surgical cutting and fastening instrument
US10213204B2 (en) 2015-10-02 2019-02-26 Covidien Lp Micro surgical instrument and loading unit for use therewith
WO2019043505A1 (en) 2017-08-30 2019-03-07 Ethicon Llc Ultrasonic surgical instrument with pre-assembled acoustic assembly
WO2019043506A1 (en) 2017-08-31 2019-03-07 Ethicon Llc End effector for electrosurgical instrument with irrigation
US10226251B2 (en) 2015-10-15 2019-03-12 Ethicon Llc Surgical staple actuating sled with actuation stroke having minimized distance relative to distal staple
US10226249B2 (en) 2013-03-01 2019-03-12 Ethicon Llc Articulatable surgical instruments with conductive pathways for signal communication
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US10238388B2 (en) 2015-10-29 2019-03-26 Ethicon Llc Surgical stapler buttress assembly with humidity tolerant adhesive
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10245030B2 (en) 2016-02-09 2019-04-02 Ethicon Llc Surgical instruments with tensioning arrangements for cable driven articulation systems
US10245064B2 (en) 2016-07-12 2019-04-02 Ethicon Llc Ultrasonic surgical instrument with piezoelectric central lumen transducer
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US10245065B2 (en) 2007-11-30 2019-04-02 Ethicon Llc Ultrasonic surgical blades
US10251664B2 (en) 2016-01-15 2019-04-09 Ethicon Llc Modular battery powered handheld surgical instrument with multi-function motor via shifting gear assembly
US10251649B2 (en) 2015-10-29 2019-04-09 Ethicon Llc Surgical stapler buttress applicator with data communication
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10258337B2 (en) 2016-04-20 2019-04-16 Ethicon Llc Surgical staple cartridge with severed tissue edge adjunct
US10265069B2 (en) 2015-10-15 2019-04-23 Ethicon Llc Surgical staple cartridge with varying staple crown width along a curve
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10265073B2 (en) 2015-10-15 2019-04-23 Ethicon Llc Surgical stapler with terminal staple orientation crossing center line
US10271851B2 (en) 2016-04-01 2019-04-30 Ethicon Llc Modular surgical stapling system comprising a display
US10271849B2 (en) 2015-09-30 2019-04-30 Ethicon Llc Woven constructs with interlocked standing fibers
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10278721B2 (en) 2010-07-22 2019-05-07 Ethicon Llc Electrosurgical instrument with separate closure and cutting members
US10278780B2 (en) 2007-01-10 2019-05-07 Ethicon Llc Surgical instrument for use with robotic system
USD847989S1 (en) 2016-06-24 2019-05-07 Ethicon Llc Surgical fastener cartridge
USD847990S1 (en) 2016-08-16 2019-05-07 Ethicon Llc Surgical instrument
US10285705B2 (en) 2016-04-01 2019-05-14 Ethicon Llc Surgical stapling system comprising a grooved forming pocket
US10285723B2 (en) 2016-08-09 2019-05-14 Ethicon Llc Ultrasonic surgical blade with improved heel portion
US10285724B2 (en) 2014-07-31 2019-05-14 Ethicon Llc Actuation mechanisms and load adjustment assemblies for surgical instruments
US10285700B2 (en) 2016-04-20 2019-05-14 Ethicon Llc Surgical staple cartridge with hydraulic staple deployment
US10292701B2 (en) 2014-06-25 2019-05-21 Ethicon Llc Articulation drive features for surgical stapler
US10292778B2 (en) 2014-04-24 2019-05-21 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10299790B2 (en) 2017-03-03 2019-05-28 Covidien Lp Adapter with centering mechanism for articulation joint
US10299810B2 (en) 2010-02-11 2019-05-28 Ethicon Llc Rotatable cutting implements with friction reducing material for ultrasonic surgical instruments
US10299842B2 (en) 2013-12-20 2019-05-28 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10299789B2 (en) 2015-05-05 2019-05-28 Covidie LP Adapter assembly for surgical stapling devices
US10307159B2 (en) 2016-04-01 2019-06-04 Ethicon Llc Surgical instrument handle assembly with reconfigurable grip portion
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD850617S1 (en) 2016-06-24 2019-06-04 Ethicon Llc Surgical fastener cartridge
US10307213B2 (en) 2013-08-15 2019-06-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
US10314588B2 (en) 2015-10-29 2019-06-11 Ethicon Llc Fluid penetrable buttress assembly for a surgical stapler
US10314580B2 (en) 2015-07-28 2019-06-11 Ethicon Llc Surgical staple cartridge with compression feature at knife slot
US10314589B2 (en) 2006-06-27 2019-06-11 Ethicon Llc Surgical instrument including a shifting assembly
US10314638B2 (en) 2015-04-07 2019-06-11 Ethicon Llc Articulating radio frequency (RF) tissue seal with articulating state sensing
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US10321963B2 (en) * 2015-08-04 2019-06-18 Vanderbilt University Apparatus and method for moving an elongate rod
US10321950B2 (en) 2015-03-17 2019-06-18 Ethicon Llc Managing tissue treatment
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10335614B2 (en) 2008-08-06 2019-07-02 Ethicon Llc Devices and techniques for cutting and coagulating tissue
US10335183B2 (en) 2012-06-29 2019-07-02 Ethicon Llc Feedback devices for surgical control systems
US10335147B2 (en) 2014-06-25 2019-07-02 Ethicon Llc Method of using lockout features for surgical stapler cartridge
US10335182B2 (en) 2012-06-29 2019-07-02 Ethicon Llc Surgical instruments with articulating shafts
US10342535B2 (en) 2015-10-15 2019-07-09 Ethicon Llc Method of applying staples to liver and other organs
US10342542B2 (en) 2015-08-24 2019-07-09 Ethicon Llc Surgical stapler buttress applicator with end effector actuated release mechanism
US10342602B2 (en) 2015-03-17 2019-07-09 Ethicon Llc Managing tissue treatment
US10342532B2 (en) 2015-08-24 2019-07-09 Ethicon Llc Surgical stapler buttress applicator with multi-point actuated release mechanism
US10349939B2 (en) 2015-03-25 2019-07-16 Ethicon Llc Method of applying a buttress to a surgical stapler
US10349941B2 (en) 2015-05-27 2019-07-16 Covidien Lp Multi-fire lead screw stapling device
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
US10349999B2 (en) 2014-03-31 2019-07-16 Ethicon Llc Controlling impedance rise in electrosurgical medical devices
US10349937B2 (en) 2016-02-10 2019-07-16 Covidien Lp Surgical stapler with articulation locking mechanism
US10349940B2 (en) 2015-08-24 2019-07-16 Ethicon Llc Surgical stapler buttress applicator with state indicator
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10357248B2 (en) 2015-10-29 2019-07-23 Ethicon Llc Extensible buttress assembly for surgical stapler
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US10357303B2 (en) 2015-06-30 2019-07-23 Ethicon Llc Translatable outer tube for sealing using shielded lap chole dissector
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10363037B2 (en) 2016-04-18 2019-07-30 Ethicon Llc Surgical instrument system comprising a magnetic lockout
US10363032B2 (en) 2016-04-20 2019-07-30 Ethicon Llc Surgical stapler with hydraulic deck control
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10376305B2 (en) 2016-08-05 2019-08-13 Ethicon Llc Methods and systems for advanced harmonic energy
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10390826B2 (en) 2017-05-08 2019-08-27 Covidien Lp Surgical stapling device with elongated tool assembly and methods of use
US10398466B2 (en) 2007-07-27 2019-09-03 Ethicon Llc Ultrasonic end effectors with increased active length
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
US10398433B2 (en) 2007-03-28 2019-09-03 Ethicon Llc Laparoscopic clamp load measuring devices
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10413294B2 (en) 2012-06-28 2019-09-17 Ethicon Llc Shaft assembly arrangements for surgical instruments
US10420580B2 (en) 2016-08-25 2019-09-24 Ethicon Llc Ultrasonic transducer for surgical instrument
US10420551B2 (en) 2017-05-30 2019-09-24 Covidien Lp Authentication and information system for reusable surgical instruments
US10420579B2 (en) 2007-07-31 2019-09-24 Ethicon Llc Surgical instruments
US10420559B2 (en) 2016-02-11 2019-09-24 Covidien Lp Surgical stapler with small diameter endoscopic portion
US10420549B2 (en) 2008-09-23 2019-09-24 Ethicon Llc Motorized surgical instrument
EP3542733A1 (en) 2018-03-23 2019-09-25 Ethicon LLC Staple cartridge with short circuit prevention features
EP3542732A1 (en) 2018-03-23 2019-09-25 Ethicon LLC Surgical instrument with capacitive electrical interface
EP3542731A2 (en) 2018-03-23 2019-09-25 Ethicon LLC Surgical instrument with electrical contact under membrane
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US10426507B2 (en) 2007-07-31 2019-10-01 Ethicon Llc Ultrasonic surgical instruments
US10426481B2 (en) 2014-02-24 2019-10-01 Ethicon Llc Implantable layer assemblies
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10433839B2 (en) 2015-10-29 2019-10-08 Ethicon Llc Surgical stapler buttress assembly with gel adhesive retainer
US10433900B2 (en) 2011-07-22 2019-10-08 Ethicon Llc Surgical instruments for tensioning tissue
US10441310B2 (en) 2012-06-29 2019-10-15 Ethicon Llc Surgical instruments with curved section
US10441308B2 (en) 2007-11-30 2019-10-15 Ethicon Llc Ultrasonic surgical instrument blades
US10441286B2 (en) 2015-10-29 2019-10-15 Ethicon Llc Multi-layer surgical stapler buttress assembly
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448950B2 (en) 2016-12-21 2019-10-22 Ethicon Llc Surgical staplers with independently actuatable closing and firing systems
US10456193B2 (en) 2016-05-03 2019-10-29 Ethicon Llc Medical device with a bilateral jaw configuration for nerve stimulation
US10456132B2 (en) 2014-06-25 2019-10-29 Ethicon Llc Jaw opening feature for surgical stapler
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US10463368B2 (en) 2015-04-10 2019-11-05 Covidien Lp Endoscopic stapler
US10463421B2 (en) 2014-03-27 2019-11-05 Ethicon Llc Two stage trigger, clamp and cut bipolar vessel sealer
US10463370B2 (en) 2008-02-14 2019-11-05 Ethicon Llc Motorized surgical instrument
US10463371B2 (en) 2016-11-29 2019-11-05 Covidien Lp Reload assembly with spent reload indicator
US10478163B2 (en) 2008-09-30 2019-11-19 Intuitive Surgical Operations, Inc. Medical instrument engagement process
US10478185B2 (en) 2017-06-02 2019-11-19 Covidien Lp Tool assembly with minimal dead space
US10478186B2 (en) 2013-03-13 2019-11-19 Ethicon Llc Electrosurgical device with disposable shaft having rack and pinion drive
US10478187B2 (en) 2015-03-25 2019-11-19 Ethicon Llc Biologically derived extracellular matrix with infused viscous absorbable copolymer for releasably attaching a staple buttress to a surgical stapler
US10485607B2 (en) 2016-04-29 2019-11-26 Ethicon Llc Jaw structure with distal closure for electrosurgical instruments
US10485543B2 (en) 2016-12-21 2019-11-26 Ethicon Llc Anvil having a knife slot width
US10492784B2 (en) 2016-11-08 2019-12-03 Covidien Lp Surgical tool assembly with compact firing assembly
US10492841B2 (en) 2014-07-10 2019-12-03 Crossroads Extremity Systems, Llc Bone implant and means of insertion
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10492785B2 (en) 2016-12-21 2019-12-03 Ethicon Llc Shaft assembly comprising a lockout
US10499912B2 (en) 2016-07-13 2019-12-10 Ethicon Llc Apparatus for hydraulic assisted fracture of liver parenchyma
US10499914B2 (en) 2016-12-21 2019-12-10 Ethicon Llc Staple forming pocket arrangements
US10499918B2 (en) 2015-10-29 2019-12-10 Ethicon Llc Surgical stapler buttress assembly with features to interact with movable end effector components
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US10499917B2 (en) 2015-10-15 2019-12-10 Ethicon Llc Surgical stapler end effector with knife position indicators
US10499890B2 (en) 2006-01-31 2019-12-10 Ethicon Llc Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
WO2019234705A2 (en) 2018-06-08 2019-12-12 Acclarent, Inc. Apparatus and method for performing vidian neurectomy procedure
WO2019234540A1 (en) 2018-06-08 2019-12-12 Acclarent, Inc. Surgical navigation system with automatically driven endoscope
US10512461B2 (en) 2014-05-15 2019-12-24 Covidien Lp Surgical fastener applying apparatus
US10517627B2 (en) 2012-04-09 2019-12-31 Ethicon Llc Switch arrangements for ultrasonic surgical instruments
US10517596B2 (en) 2016-12-21 2019-12-31 Ethicon Llc Articulatable surgical instruments with articulation stroke amplification features
US10517593B2 (en) 2013-11-04 2019-12-31 Covidien Lp Surgical fastener applying apparatus
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US10517592B2 (en) 2015-10-29 2019-12-31 Ethicon Llc Surgical stapler buttress assembly with adhesion to wet end effector
US10517589B2 (en) 2017-05-05 2019-12-31 Covidien Lp Surgical staples with expandable backspan
US10524854B2 (en) 2010-07-23 2020-01-07 Ethicon Llc Surgical instrument
US10524872B2 (en) 2012-06-29 2020-01-07 Ethicon Llc Closed feedback control for electrosurgical device
US10531910B2 (en) 2007-07-27 2020-01-14 Ethicon Llc Surgical instruments
US10537324B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Stepped staple cartridge with asymmetrical staples
US10537325B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Staple forming pocket arrangement to accommodate different types of staples
US10537352B2 (en) 2004-10-08 2020-01-21 Ethicon Llc Tissue pads for use with surgical instruments
EP3597117A1 (en) 2018-07-16 2020-01-22 Ethicon LLC Surgical stapling end effector component with tip having varying bend angle
EP3597118A1 (en) 2018-07-16 2020-01-22 Ethicon LLC Method of surgical stapling with end effector component having a curved tip
EP3597121A2 (en) 2018-07-16 2020-01-22 Ethicon LLC Surgical stapling end effector jaw with tip deflecting toward other jaw
EP3597119A2 (en) 2018-07-16 2020-01-22 Ethicon LLC Permanent attachment means for curved tip of component of surgical stapling instrument
US10542979B2 (en) 2016-06-24 2020-01-28 Ethicon Llc Stamped staples and staple cartridges using the same
US10543008B2 (en) 2012-06-29 2020-01-28 Ethicon Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
US10548593B2 (en) 2015-03-25 2020-02-04 Ethicon Llc Flowable bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10548599B2 (en) 2015-07-20 2020-02-04 Covidien Lp Endoscopic stapler and staple
US10555769B2 (en) 2016-02-22 2020-02-11 Ethicon Llc Flexible circuits for electrosurgical instrument
US10561419B2 (en) 2016-05-04 2020-02-18 Covidien Lp Powered end effector assembly with pivotable channel
EP3610801A2 (en) 2018-08-13 2020-02-19 Ethicon LLC Clamping assembly for linear surgical stapler
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US10568626B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Surgical instruments with jaw opening features for increasing a jaw opening distance
US10568621B2 (en) 2015-03-25 2020-02-25 Ethicon Llc Surgical staple buttress with integral adhesive for releasably attaching to a surgical stapler
US10569794B2 (en) 2015-10-13 2020-02-25 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US10568625B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
US10575892B2 (en) 2015-12-31 2020-03-03 Ethicon Llc Adapter for electrical surgical instruments
US10575868B2 (en) 2013-03-01 2020-03-03 Ethicon Llc Surgical instrument with coupler assembly
US10580217B2 (en) 2015-02-03 2020-03-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10588632B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical end effectors and firing members thereof
US10588633B2 (en) 2017-06-28 2020-03-17 Ethicon Llc Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing
US10595930B2 (en) 2015-10-16 2020-03-24 Ethicon Llc Electrode wiping surgical device
US10595929B2 (en) 2015-03-24 2020-03-24 Ethicon Llc Surgical instruments with firing system overload protection mechanisms
US10595864B2 (en) 2015-11-24 2020-03-24 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US10603035B2 (en) 2017-05-02 2020-03-31 Covidien Lp Surgical loading unit including an articulating end effector
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US10603064B2 (en) 2016-11-28 2020-03-31 Ethicon Llc Ultrasonic transducer
US10603117B2 (en) 2017-06-28 2020-03-31 Ethicon Llc Articulation state detection mechanisms
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
EP3636166A2 (en) 2018-10-11 2020-04-15 Ethicon LLC Anvil assembly for linear surgical stapler
EP3636168A2 (en) 2018-10-11 2020-04-15 Ethicon LLC Closure assembly for linear surgical stapler
US10624638B2 (en) 2014-03-29 2020-04-21 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US10624636B2 (en) 2017-08-23 2020-04-21 Covidien Lp Surgical stapling device with floating staple cartridge
US10631861B2 (en) 2018-03-23 2020-04-28 Ethicon Llc Slip ring assembly for surgical instrument
US10631859B2 (en) 2017-06-27 2020-04-28 Ethicon Llc Articulation systems for surgical instruments
US10631857B2 (en) 2016-11-04 2020-04-28 Covidien Lp Loading unit for surgical instruments with low profile pushers
US10639068B2 (en) 2017-06-29 2020-05-05 Ethicon Llc Trocar with oblique needle insertion port and perpendicular seal latch
US10639039B2 (en) 2015-08-24 2020-05-05 Ethicon Llc Surgical stapler buttress applicator with multi-zone platform for pressure focused release
US10639092B2 (en) 2014-12-08 2020-05-05 Ethicon Llc Electrode configurations for surgical instruments
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
US10646269B2 (en) 2016-04-29 2020-05-12 Ethicon Llc Non-linear jaw gap for electrosurgical instruments
US10646283B2 (en) 2018-02-19 2020-05-12 Globus Medical Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US10653420B2 (en) 2016-04-20 2020-05-19 Ethicon Llc Compliant compensation features for end effector of surgical stapling instrument
US10660641B2 (en) 2017-03-16 2020-05-26 Covidien Lp Adapter with centering mechanism for articulation joint
US10660623B2 (en) 2016-01-15 2020-05-26 Covidien Lp Centering mechanism for articulation joint
US10660712B2 (en) 2011-04-01 2020-05-26 Globus Medical Inc. Robotic system and method for spinal and other surgeries
US10660640B2 (en) 2008-02-14 2020-05-26 Ethicon Llc Motorized surgical cutting and fastening instrument
US10667809B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Staple cartridge and staple cartridge channel comprising windows defined therein
US10675094B2 (en) 2017-07-21 2020-06-09 Globus Medical Inc. Robot surgical platform
US10675028B2 (en) 2006-01-31 2020-06-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US10682134B2 (en) 2017-12-21 2020-06-16 Ethicon Llc Continuous use self-propelled stapling instrument
US10687807B2 (en) 2013-02-28 2020-06-23 Ethicon Llc Integrated tissue positioning and jaw alignment features for surgical stapler
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US10688321B2 (en) 2009-07-15 2020-06-23 Ethicon Llc Ultrasonic surgical instruments
US10687810B2 (en) 2016-12-21 2020-06-23 Ethicon Llc Stepped staple cartridge with tissue retention and gap setting features
US10687814B2 (en) * 2017-08-14 2020-06-23 Standard Bariatrics, Inc. Stapling systems and methods for surgical devices and end effectors
EP3673824A2 (en) 2018-12-28 2020-07-01 Ethicon LLC Surgical stapler with tissue engagement features around tissue containment pin
EP3673823A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with proximal alignment features
EP3673826A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Surgical stapler with sloped staple deck for varying tissue compression
EP3673822A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with compression layer pocket feature
EP3673825A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with opening feature for curved tip alignment
US10702329B2 (en) 2016-04-29 2020-07-07 Ethicon Llc Jaw structure with distal post for electrosurgical instruments
US10710246B2 (en) 2014-08-15 2020-07-14 Intuitive Surgical Operations, Inc. Surgical system with variable entry guide configurations
US10709901B2 (en) 2017-01-05 2020-07-14 Covidien Lp Implantable fasteners, applicators, and methods for brachytherapy
US10709906B2 (en) 2009-05-20 2020-07-14 Ethicon Llc Coupling arrangements and methods for attaching tools to ultrasonic surgical instruments
US10709470B2 (en) 2017-07-10 2020-07-14 Ethicon Llc Features to couple acoustic drivetrain components in ultrasonic surgical instrument
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US10716615B2 (en) 2016-01-15 2020-07-21 Ethicon Llc Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
US10722261B2 (en) 2007-03-22 2020-07-28 Ethicon Llc Surgical instruments
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US10729494B2 (en) 2012-02-10 2020-08-04 Ethicon Llc Robotically controlled surgical instrument
US10729434B2 (en) 2017-02-17 2020-08-04 Ethicon Llc Surgical stapler with insertable distal anvil tip
US10736631B2 (en) 2018-08-07 2020-08-11 Covidien Lp End effector with staple cartridge ejector
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US10736628B2 (en) 2008-09-23 2020-08-11 Ethicon Llc Motor-driven surgical cutting instrument
US10743851B2 (en) 2008-02-14 2020-08-18 Ethicon Llc Interchangeable tools for surgical instruments
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
WO2020165770A1 (en) 2019-02-15 2020-08-20 Acclarent, Inc. Instrument for endoscopic posterior nasal nerve ablation
US10751076B2 (en) 2009-12-24 2020-08-25 Ethicon Llc Motor-driven surgical cutting instrument with electric actuator directional control assembly
US10751117B2 (en) 2016-09-23 2020-08-25 Ethicon Llc Electrosurgical instrument with fluid diverter
US10751109B2 (en) 2014-12-22 2020-08-25 Ethicon Llc High power battery powered RF amplifier topology
US10758229B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument comprising improved jaw control
US10758231B2 (en) 2017-02-17 2020-09-01 Ethicon Llc Surgical stapler with bent anvil tip, angled staple cartridge tip, and tissue gripping features
US10758233B2 (en) 2009-02-05 2020-09-01 Ethicon Llc Articulatable surgical instrument comprising a firing drive
US10758230B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument with primary and safety processors
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
US10765470B2 (en) 2015-06-30 2020-09-08 Ethicon Llc Surgical system with user adaptable techniques employing simultaneous energy modalities based on tissue parameters
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US10772632B2 (en) 2015-10-28 2020-09-15 Covidien Lp Surgical stapling device with triple leg staples
US10772690B2 (en) 2008-09-30 2020-09-15 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US10779876B2 (en) 2011-10-24 2020-09-22 Ethicon Llc Battery powered surgical instrument
US10779824B2 (en) 2017-06-28 2020-09-22 Ethicon Llc Surgical instrument comprising an articulation system lockable by a closure system
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US10779845B2 (en) 2012-06-29 2020-09-22 Ethicon Llc Ultrasonic surgical instruments with distally positioned transducers
US10779879B2 (en) 2014-03-18 2020-09-22 Ethicon Llc Detecting short circuits in electrosurgical medical devices
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10779848B2 (en) 2006-01-20 2020-09-22 Ethicon Llc Ultrasound medical instrument having a medical ultrasonic blade
US10786252B2 (en) 2018-07-16 2020-09-29 Ethicon Llc Surgical stapling end effector component with deformable tip having void
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
WO2020201927A1 (en) 2019-04-04 2020-10-08 Acclarent, Inc. Needle instrument for posterior nasal neurectomy ablation
US10799257B2 (en) 2018-03-23 2020-10-13 Ethicon Llc Seal for surgical instrument
US10799303B2 (en) 2013-08-15 2020-10-13 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US10799284B2 (en) 2017-03-15 2020-10-13 Ethicon Llc Electrosurgical instrument with textured jaws
US10806451B2 (en) 2017-02-17 2020-10-20 Ethicon Llc Surgical stapler with cooperating distal tip features on anvil and staple cartridge
US10806452B2 (en) 2017-08-24 2020-10-20 Covidien Lp Loading unit for a surgical stapling instrument
US10813704B2 (en) 2013-10-04 2020-10-27 Kb Medical, Sa Apparatus and systems for precise guidance of surgical tools
US10813662B2 (en) 2017-07-10 2020-10-27 Ethicon Llc Acoustic drivetrain with external collar at nodal position
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US10813702B2 (en) 2013-03-13 2020-10-27 Ethicon Llc Robotic ultrasonic surgical device with articulating end effector
EP3730070A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Cartridge based lockout mechanism for right angle surgical stapler
EP3730069A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Staple retainer for surgical stapler cartridge
EP3730071A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Clamping based lockout mechanism for right angle surgical stapler
EP3730068A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Tissue cutting washer for right angle surgical stapler
US10820920B2 (en) 2017-07-05 2020-11-03 Ethicon Llc Reusable ultrasonic medical devices and methods of their use
US10828031B2 (en) 2017-02-17 2020-11-10 Ethicon Llc Surgical stapler with elastically deformable tip
USD901686S1 (en) 2018-12-28 2020-11-10 Ethicon Llc Applicator for surgical stapler buttress
US10828059B2 (en) 2007-10-05 2020-11-10 Ethicon Llc Ergonomic surgical instruments
US10828057B2 (en) 2007-03-22 2020-11-10 Ethicon Llc Ultrasonic surgical instruments
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10835307B2 (en) 2001-06-12 2020-11-17 Ethicon Llc Modular battery powered handheld surgical instrument containing elongated multi-layered shaft
US10835768B2 (en) 2010-02-11 2020-11-17 Ethicon Llc Dual purpose surgical instrument for cutting and coagulating tissue
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US10842517B2 (en) 2018-03-23 2020-11-24 Ethicon Llc Surgical instrument with compressible electrical connector
US10842522B2 (en) 2016-07-15 2020-11-24 Ethicon Llc Ultrasonic surgical instruments having offset blades
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10842580B2 (en) 2012-06-29 2020-11-24 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
USD903115S1 (en) 2018-12-28 2020-11-24 Ethicon Llc Applicator for a surgical stapler buttress
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10849622B2 (en) 2018-06-21 2020-12-01 Covidien Lp Articulated stapling with fire lock
US10849620B2 (en) 2018-09-14 2020-12-01 Covidien Lp Connector mechanisms for surgical stapling instruments
US10849621B2 (en) 2017-02-23 2020-12-01 Covidien Lp Surgical stapler with small diameter endoscopic portion
EP3744260A1 (en) 2019-05-28 2020-12-02 Ethicon LLC Nozzle fluid ingress prevention features for surgical stapler
US10856929B2 (en) 2014-01-07 2020-12-08 Ethicon Llc Harvesting energy from a surgical generator
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US10856896B2 (en) 2005-10-14 2020-12-08 Ethicon Llc Ultrasonic device for cutting and coagulating
US10856934B2 (en) 2016-04-29 2020-12-08 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting and tissue engaging members
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US10863987B2 (en) 2017-11-16 2020-12-15 Covidien Lp Surgical instrument with imaging device
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
US10863984B2 (en) 2015-03-25 2020-12-15 Ethicon Llc Low inherent viscosity bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10874418B2 (en) 2004-02-27 2020-12-29 Ethicon Llc Ultrasonic surgical shears and method for sealing a blood vessel using same
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10881449B2 (en) 2012-09-28 2021-01-05 Ethicon Llc Multi-function bi-polar forceps
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US10893883B2 (en) 2016-07-13 2021-01-19 Ethicon Llc Ultrasonic assembly for use with ultrasonic surgical instruments
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10898187B2 (en) 2018-08-13 2021-01-26 Ethicon Llc Firing system for linear surgical stapler
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
US10898256B2 (en) 2015-06-30 2021-01-26 Ethicon Llc Surgical system with user adaptable techniques based on tissue impedance
US10912580B2 (en) 2013-12-16 2021-02-09 Ethicon Llc Medical device
US10912558B2 (en) 2018-07-16 2021-02-09 Ethicon Llc Surgical stapling end effector component with deformable tip having thick distal end
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US10912603B2 (en) 2013-11-08 2021-02-09 Ethicon Llc Electrosurgical devices
US10912563B2 (en) 2019-01-02 2021-02-09 Covidien Lp Stapling device including tool assembly stabilizing member
US10912561B2 (en) 2018-07-16 2021-02-09 Ethicon Llc Buttress applier cartridge for surgical stapler having end effector with deflectable curved tip
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US10925659B2 (en) 2013-09-13 2021-02-23 Ethicon Llc Electrosurgical (RF) medical instruments for cutting and coagulating tissue
US10925681B2 (en) 2015-07-31 2021-02-23 Globus Medical Inc. Robot arm and methods of use
US10925603B2 (en) 2017-11-14 2021-02-23 Covidien Lp Reload with articulation stabilization system
US10932867B2 (en) 2013-08-15 2021-03-02 Intuitive Surgical Operations, Inc. Reusable surgical instrument with single-use tip and integrated tip cover
US10932868B2 (en) 2013-08-15 2021-03-02 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
WO2021038372A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic surgical instrument with a multi-planar articulating shaft assembly
WO2021038373A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic surgical instrument with axisymmetric clamping
WO2021038375A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic blade and clamp arm alignment features
US10939968B2 (en) 2014-02-11 2021-03-09 Globus Medical Inc. Sterile handle for controlling a robotic surgical system from a sterile field
US10945725B2 (en) 2017-02-06 2021-03-16 Crossroads Extremity Systems, Llc Implant inserter
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US10945727B2 (en) 2016-12-21 2021-03-16 Ethicon Llc Staple cartridge with deformable driver retention features
US10945742B2 (en) 2014-07-14 2021-03-16 Globus Medical Inc. Anti-skid surgical instrument for use in preparing holes in bone tissue
US10945732B2 (en) 2018-01-17 2021-03-16 Covidien Lp Surgical stapler with self-returning assembly
US10952759B2 (en) 2016-08-25 2021-03-23 Ethicon Llc Tissue loading of a surgical instrument
US10952788B2 (en) 2015-06-30 2021-03-23 Ethicon Llc Surgical instrument with user adaptable algorithms
US10952767B2 (en) 2017-02-06 2021-03-23 Covidien Lp Connector clip for securing an introducer to a surgical fastener applying apparatus
US10952731B2 (en) 2013-11-04 2021-03-23 Covidien Lp Surgical fastener applying apparatus
US10952730B2 (en) 2015-10-15 2021-03-23 Ethicon Llc End effector for surgical stapler with varying curve and taper
US10959771B2 (en) 2015-10-16 2021-03-30 Ethicon Llc Suction and irrigation sealing grasper
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US10959806B2 (en) 2015-12-30 2021-03-30 Ethicon Llc Energized medical device with reusable handle
US10966717B2 (en) 2016-01-07 2021-04-06 Covidien Lp Surgical fastener apparatus
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US10973594B2 (en) 2015-09-14 2021-04-13 Globus Medical, Inc. Surgical robotic systems and methods thereof
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US10980556B2 (en) 2013-08-15 2021-04-20 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US10987156B2 (en) 2016-04-29 2021-04-27 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members
US10987108B2 (en) 2013-12-17 2021-04-27 Standard Bariatrics, Inc. Resection line guide for a medical procedure and method of using same
US10987123B2 (en) 2012-06-28 2021-04-27 Ethicon Llc Surgical instruments with articulating shafts
US10987102B2 (en) 2010-09-30 2021-04-27 Ethicon Llc Tissue thickness compensator comprising a plurality of layers
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US10993763B2 (en) 2012-06-29 2021-05-04 Ethicon Llc Lockout mechanism for use with robotic electrosurgical device
US10993715B2 (en) 2016-12-21 2021-05-04 Ethicon Llc Staple cartridge comprising staples with different clamping breadths
US11000345B2 (en) 2016-07-14 2021-05-11 Intuitive Surgical Operations, Inc. Instrument flushing system
WO2021090174A1 (en) 2019-11-05 2021-05-14 Ethicon Llc Articulation joint with helical lumen
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US11013511B2 (en) 2007-06-22 2021-05-25 Ethicon Llc Surgical stapling instrument with an articulatable end effector
US11020115B2 (en) 2014-02-12 2021-06-01 Cilag Gmbh International Deliverable surgical instrument
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US11020140B2 (en) 2015-06-17 2021-06-01 Cilag Gmbh International Ultrasonic surgical blade for use with ultrasonic surgical instruments
US11026681B2 (en) 2018-03-23 2021-06-08 Cilag Gmbh International Surgical instrument with recessed contacts and electrically insulating barriers
US11033266B2 (en) 2018-08-13 2021-06-15 Cilag Gmbh International Decoupling mechanism for linear surgical stapler
US11033264B2 (en) 2013-11-04 2021-06-15 Covidien Lp Surgical fastener applying apparatus
US11033323B2 (en) 2017-09-29 2021-06-15 Cilag Gmbh International Systems and methods for managing fluid and suction in electrosurgical systems
US11033325B2 (en) 2017-02-16 2021-06-15 Cilag Gmbh International Electrosurgical instrument with telescoping suction port and debris cleaner
US11033269B2 (en) 2018-12-28 2021-06-15 Cilag Gmbh International Method of applying buttresses to surgically cut and stapled sites
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
USD922576S1 (en) 2018-12-28 2021-06-15 Cilag Gmbh International Applicator tray for a buttress applicator for a surgical stapler
US11033292B2 (en) 2013-12-16 2021-06-15 Cilag Gmbh International Medical device
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US11039832B2 (en) 2015-08-24 2021-06-22 Cilag Gmbh International Surgical stapler buttress applicator with spent staple cartridge lockout
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11051813B2 (en) 2006-01-31 2021-07-06 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11051836B2 (en) 2017-10-30 2021-07-06 Cilag Gmbh International Surgical clip applier comprising an empty clip cartridge lockout
US11051873B2 (en) 2015-06-30 2021-07-06 Cilag Gmbh International Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters
US11058447B2 (en) 2007-07-31 2021-07-13 Cilag Gmbh International Temperature controlled ultrasonic surgical instruments
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US11065022B2 (en) 2016-05-17 2021-07-20 Covidien Lp Cutting member for a surgical instrument
USD926317S1 (en) 2018-12-28 2021-07-27 Cilag Gmbh International Surgical stapler deck with tissue engagement cleat features
US11071545B2 (en) 2014-09-05 2021-07-27 Cilag Gmbh International Smart cartridge wake up operation and data retention
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
USD926318S1 (en) 2018-12-28 2021-07-27 Cilag Gmbh International Surgical stapler deck with tissue engagement recess features
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11090051B2 (en) 2018-10-23 2021-08-17 Covidien Lp Surgical stapling device with floating staple cartridge
US11090104B2 (en) 2009-10-09 2021-08-17 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US11090103B2 (en) 2010-05-21 2021-08-17 Cilag Gmbh International Medical device
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11096686B2 (en) 2014-03-29 2021-08-24 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11100631B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Use of laser light and red-green-blue coloration to determine properties of back scattered light
US11103244B2 (en) 2017-02-17 2021-08-31 Cilag Gmbh International Surgical stapling end effector jaw with tip deflecting toward other jaw
US11109862B2 (en) 2019-12-12 2021-09-07 Covidien Lp Surgical stapling device with flexible shaft
US11109922B2 (en) 2012-06-21 2021-09-07 Globus Medical, Inc. Surgical tool systems and method
US11114195B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Surgical instrument with a tissue marking assembly
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US11116505B2 (en) 2018-12-28 2021-09-14 Cilag Gmbh International Applicator for surgical stapler buttress
US11123068B2 (en) 2019-11-08 2021-09-21 Covidien Lp Surgical staple cartridge
US11123070B2 (en) 2017-10-30 2021-09-21 Cilag Gmbh International Clip applier comprising a rotatable clip magazine
US11129611B2 (en) 2018-03-28 2021-09-28 Cilag Gmbh International Surgical staplers with arrangements for maintaining a firing member thereof in a locked configuration unless a compatible cartridge has been installed therein
US11133106B2 (en) 2013-08-23 2021-09-28 Cilag Gmbh International Surgical instrument assembly comprising a retraction assembly
US11129670B2 (en) 2016-01-15 2021-09-28 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11129669B2 (en) 2015-06-30 2021-09-28 Cilag Gmbh International Surgical system with user adaptable techniques based on tissue type
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
USD932621S1 (en) 2018-12-28 2021-10-05 Cilag Gmbh International Buttress assembly for a surgical stapler
US11134975B2 (en) 2017-08-31 2021-10-05 Cilag Gmbh International Apparatus and method to control operation of surgical instrument based on audible feedback
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
USD933220S1 (en) 2018-12-28 2021-10-12 Cilag Gmbh International Buttress assembly for a surgical stapler
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US11141159B2 (en) 2015-10-15 2021-10-12 Cilag Gmbh International Surgical stapler end effector with multi-staple driver crossing center line
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147607B2 (en) 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US11160550B2 (en) 2018-07-16 2021-11-02 Cilag Gmbh International Surgical stapling end effector component with articulation and asymmetric deformable tip
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
WO2021219877A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Latchless obturator with interference fit feature
WO2021219878A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Airflow channels and patterns in lumen for cannula
WO2021219875A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Pinch-to-release cannula depth limiter
WO2021219855A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Gyroscopic stabilizer for surgical shafts or cannulas
WO2021219884A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Multi-diameter cannula depth limiter
WO2021219866A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Tilting tang cannula depth limiter
WO2021219858A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Universal size multi-walled elastomer cannula depth limiter
WO2021219868A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Two-piece separable obturator
WO2021219853A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Threaded cannula depth limiter
WO2021219883A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Pinch-to-clamp cannula depth limiter
WO2021219862A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Balancing feature for reusable trocar
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11166725B2 (en) 2018-12-28 2021-11-09 Cilag Gmbh International Configuration of buttress for surgical stapler
US11166724B2 (en) 2018-12-28 2021-11-09 Cilag Gmbh International Adhesive distribution on buttress for surgical stapler
US11173060B2 (en) 2019-11-04 2021-11-16 Standard Bariatrics, Inc. Systems and methods of performing surgery using Laplace's law tension retraction during surgery
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
US11179154B2 (en) 2018-07-16 2021-11-23 Cilag Gmbh International Surgical stapling end effector component with deformable tip skewing in multiple planes
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
US11179204B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11179149B2 (en) 2017-02-07 2021-11-23 Crossroads Extremity Systems, Llc Counter-torque implant
US11185327B2 (en) 2017-02-17 2021-11-30 Cilag Gmbh International Method of surgical stapling with end effector component having a curved tip
US11191542B2 (en) 2016-11-14 2021-12-07 Cilag Gmbh International Atraumatic stapling head features for circular surgical stapler
US11191538B1 (en) 2020-06-08 2021-12-07 Covidien Lp Surgical stapling device with parallel jaw closure
USD938029S1 (en) 2019-04-26 2021-12-07 Cilag Gmbh International Staple retainer for surgical stapler cartridge
US11191537B1 (en) 2020-05-12 2021-12-07 Covidien Lp Stapling device with continuously parallel jaws
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
US11197673B2 (en) 2018-10-30 2021-12-14 Covidien Lp Surgical stapling instruments and end effector assemblies thereof
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US11202626B2 (en) 2014-07-10 2021-12-21 Crossroads Extremity Systems, Llc Bone implant with means for multi directional force and means of insertion
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11202633B2 (en) 2014-09-26 2021-12-21 Cilag Gmbh International Surgical stapling buttresses and adjunct materials
US11207145B2 (en) 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
US11207067B2 (en) 2018-03-28 2021-12-28 Cilag Gmbh International Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
US11213359B2 (en) 2017-12-28 2022-01-04 Cilag Gmbh International Controllers for robot-assisted surgical platforms
US11213295B2 (en) 2015-09-02 2022-01-04 Cilag Gmbh International Surgical staple configurations with camming surfaces located between portions supporting surgical staples
US11219456B2 (en) 2015-08-26 2022-01-11 Cilag Gmbh International Surgical staple strips for permitting varying staple properties and enabling easy cartridge loading
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224428B2 (en) 2016-12-21 2022-01-18 Cilag Gmbh International Surgical stapling systems
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US11224487B2 (en) * 2016-09-23 2022-01-18 Us Patent Innovations, Llc Robotic surgical system
US11224424B2 (en) 2019-08-02 2022-01-18 Covidien Lp Linear stapling device with vertically movable knife
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11229436B2 (en) 2017-10-30 2022-01-25 Cilag Gmbh International Surgical system comprising a surgical tool and a surgical hub
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11229471B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
WO2022024055A1 (en) 2020-07-31 2022-02-03 Cilag Gmbh International Features to enhance staple height consistency in curved surgical stapler
US11241290B2 (en) 2016-11-21 2022-02-08 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
US11241246B2 (en) 2010-02-08 2022-02-08 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
US11241228B2 (en) 2019-04-05 2022-02-08 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11241230B2 (en) 2012-06-28 2022-02-08 Cilag Gmbh International Clip applier tool for use with a robotic surgical system
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11248686B2 (en) 2013-08-15 2022-02-15 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US11246593B2 (en) 2020-03-06 2022-02-15 Covidien Lp Staple cartridge
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
US11259808B2 (en) 2019-03-13 2022-03-01 Covidien Lp Tool assemblies with a gap locking member
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US11259807B2 (en) 2019-02-19 2022-03-01 Cilag Gmbh International Staple cartridges with cam surfaces configured to engage primary and secondary portions of a lockout of a surgical stapling device
US11259799B2 (en) 2014-03-26 2022-03-01 Cilag Gmbh International Interface systems for use with surgical instruments
US11266409B2 (en) 2014-04-16 2022-03-08 Cilag Gmbh International Fastener cartridge comprising a sled including longitudinally-staggered ramps
US11266402B2 (en) 2020-07-30 2022-03-08 Covidien Lp Sensing curved tip for surgical stapling instruments
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11266430B2 (en) 2016-11-29 2022-03-08 Cilag Gmbh International End effector control and calibration
US11266470B2 (en) 2015-02-18 2022-03-08 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US11272977B2 (en) 2008-07-16 2022-03-15 Intuitive Surgical Operations, Inc. Medical instrument electrically energized using drive cables
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
US11272952B2 (en) 2013-03-14 2022-03-15 Cilag Gmbh International Mechanical fasteners for use with surgical energy devices
US11272930B2 (en) 2017-02-17 2022-03-15 Cilag Gmbh International Method of surgical stapling with end effector component having a curved tip
US11278282B2 (en) 2020-01-31 2022-03-22 Covidien Lp Stapling device with selective cutting
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11284890B2 (en) 2016-04-01 2022-03-29 Cilag Gmbh International Circular stapling system comprising an incisable tissue support
US11284893B2 (en) 2019-04-02 2022-03-29 Covidien Lp Stapling device with articulating tool assembly
US11284892B2 (en) 2019-04-01 2022-03-29 Covidien Lp Loading unit and adapter with modified coupling assembly
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11298148B2 (en) 2018-03-08 2022-04-12 Cilag Gmbh International Live time tissue classification using electrical parameters
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11304763B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
US11308075B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11311326B2 (en) 2015-02-06 2022-04-26 Cilag Gmbh International Electrosurgical instrument with rotation and articulation mechanisms
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US11311344B2 (en) 2013-03-13 2022-04-26 Cilag Gmbh International Electrosurgical device with drum-driven articulation
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11317951B2 (en) 2013-12-20 2022-05-03 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US11317913B2 (en) 2016-12-21 2022-05-03 Cilag Gmbh International Lockout arrangements for surgical end effectors and replaceable tool assemblies
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11317915B2 (en) 2019-02-19 2022-05-03 Cilag Gmbh International Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US11317911B2 (en) 2020-03-10 2022-05-03 Covidien Lp Tool assembly with replaceable cartridge assembly
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US11324500B2 (en) 2020-06-30 2022-05-10 Covidien Lp Surgical stapling device
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US11324620B2 (en) 2015-09-16 2022-05-10 Standard Bariatrics, Inc. Systems and methods for measuring volume of potential sleeve in a sleeve gastrectomy
US11324527B2 (en) 2012-11-15 2022-05-10 Cilag Gmbh International Ultrasonic and electrosurgical devices
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11331098B2 (en) 2020-04-01 2022-05-17 Covidien Lp Sled detection device
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
US11337746B2 (en) 2018-03-08 2022-05-24 Cilag Gmbh International Smart blade and power pulsing
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11337769B2 (en) 2015-07-31 2022-05-24 Globus Medical, Inc. Robot arm and methods of use
US11337747B2 (en) 2014-04-15 2022-05-24 Cilag Gmbh International Software algorithms for electrosurgical instruments
US11344297B2 (en) 2019-02-28 2022-05-31 Covidien Lp Surgical stapling device with independently movable jaws
US11344301B2 (en) 2020-03-02 2022-05-31 Covidien Lp Surgical stapling device with replaceable reload assembly
US11344302B2 (en) 2020-03-05 2022-05-31 Covidien Lp Articulation mechanism for surgical stapling device
US11344309B2 (en) 2019-07-05 2022-05-31 Covidien Lp Circular stapling instruments
US11350915B2 (en) 2017-02-23 2022-06-07 Covidien Lp Surgical stapler with small diameter endoscopic portion
US11350928B2 (en) 2016-04-18 2022-06-07 Cilag Gmbh International Surgical instrument comprising a tissue thickness lockout and speed control system
US11357548B2 (en) 2017-11-09 2022-06-14 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US11357503B2 (en) 2019-02-19 2022-06-14 Cilag Gmbh International Staple cartridge retainers with frangible retention features and methods of using same
US11357505B2 (en) 2020-03-10 2022-06-14 Covidien Lp Surgical stapling apparatus with firing lockout mechanism
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US11369371B2 (en) 2018-03-02 2022-06-28 Covidien Lp Surgical stapling instrument
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
WO2022137080A1 (en) 2020-12-21 2022-06-30 Cilag Gmbh International Dynamic trocar positioning for robotic surgical system
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11382697B2 (en) 2017-12-28 2022-07-12 Cilag Gmbh International Surgical instruments comprising button circuits
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11382627B2 (en) 2014-04-16 2022-07-12 Cilag Gmbh International Surgical stapling assembly comprising a firing member including a lateral extension
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11389192B2 (en) 2017-06-29 2022-07-19 Cilag Gmbh International Method of suturing a trocar path incision
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US11395654B2 (en) 2020-08-07 2022-07-26 Covidien Lp Surgical stapling device with articulation braking assembly
US11399855B2 (en) 2014-03-27 2022-08-02 Cilag Gmbh International Electrosurgical devices
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US11406383B2 (en) 2020-03-17 2022-08-09 Covidien Lp Fire assisted powered EGIA handle
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
US11406387B2 (en) 2020-05-12 2022-08-09 Covidien Lp Surgical stapling device with replaceable staple cartridge
US11406384B2 (en) 2020-10-05 2022-08-09 Covidien Lp Stapling device with drive assembly stop member
US11406385B2 (en) 2019-10-11 2022-08-09 Covidien Lp Stapling device with a gap locking member
USD961081S1 (en) 2020-11-18 2022-08-16 Crossroads Extremity Systems, Llc Orthopedic implant
US11419667B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US11423007B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Adjustment of device control programs based on stratified contextual data in addition to the data
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11426159B2 (en) 2020-04-01 2022-08-30 Covidien Lp Sled detection device
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
US11432817B2 (en) 2018-12-28 2022-09-06 Cilag Gmbh International Packaging for surgical stapler buttress
US11432894B2 (en) 2017-11-15 2022-09-06 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US11439392B2 (en) 2020-08-03 2022-09-13 Covidien Lp Surgical stapling device and fastener for pathological exam
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
US11446052B2 (en) 2017-12-28 2022-09-20 Cilag Gmbh International Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11446028B2 (en) 2020-07-09 2022-09-20 Covidien Lp Tool assembly with pivotable clamping beam
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11452574B1 (en) 2021-03-23 2022-09-27 Standard Bariatrics, Inc. Systems and methods for preventing tissue migration in surgical staplers
US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US11452524B2 (en) 2020-01-31 2022-09-27 Covidien Lp Surgical stapling device with lockout
US11452525B2 (en) 2019-12-30 2022-09-27 Cilag Gmbh International Surgical instrument comprising an adjustment system
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11460360B2 (en) 2017-11-14 2022-10-04 Intuitive Surgical Operations, Inc. Split bridge circuit force sensor
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11464511B2 (en) 2019-02-19 2022-10-11 Cilag Gmbh International Surgical staple cartridges with movable authentication key arrangements
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11464513B2 (en) 2012-06-28 2022-10-11 Cilag Gmbh International Surgical instrument system including replaceable end effectors
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11484358B2 (en) 2017-09-29 2022-11-01 Cilag Gmbh International Flexible electrosurgical instrument
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US11490894B1 (en) 2021-05-12 2022-11-08 Covidien Lp Surgical device with grease filter
US11490951B2 (en) 2017-09-29 2022-11-08 Cilag Gmbh International Saline contact with electrodes
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11497546B2 (en) 2017-03-31 2022-11-15 Cilag Gmbh International Area ratios of patterned coatings on RF electrodes to reduce sticking
US11497495B2 (en) 2021-03-31 2022-11-15 Covidien Lp Continuous stapler strip for use with a surgical stapling device
US11497580B2 (en) 2009-05-19 2022-11-15 Intuitive Surgical Operations, Inc. Cleaning of a surgical instrument force sensor
US11504117B2 (en) 2020-04-02 2022-11-22 Covidien Lp Hand-held surgical instruments
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11510673B1 (en) 2021-05-25 2022-11-29 Covidien Lp Powered stapling device with manual retraction
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11510669B2 (en) 2020-09-29 2022-11-29 Covidien Lp Hand-held surgical instruments
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US11517305B2 (en) 2020-07-09 2022-12-06 Covidien Lp Contoured staple pusher
US11517313B2 (en) 2021-01-27 2022-12-06 Covidien Lp Surgical stapling device with laminated drive member
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US11523823B2 (en) 2016-02-09 2022-12-13 Cilag Gmbh International Surgical instruments with non-symmetrical articulation arrangements
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11523828B2 (en) 2020-01-28 2022-12-13 Covidien Lp Sealed reload assembly for stapling device
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11529195B2 (en) 2017-01-18 2022-12-20 Globus Medical Inc. Robotic navigation of robotic surgical systems
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11534167B2 (en) 2020-05-28 2022-12-27 Covidien Lp Electrotaxis-conducive stapling
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11540831B1 (en) 2021-08-12 2023-01-03 Covidien Lp Staple cartridge with actuation sled detection
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
US11547405B2 (en) 2020-05-22 2023-01-10 Covidien Lp Surgical stapling device
WO2023281459A1 (en) 2021-07-09 2023-01-12 Cilag Gmbh International Cartridge retention features for curved surgical stapler
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11553921B2 (en) 2020-07-15 2023-01-17 Covidien Lp Surgical stapling device with flexible shaft
US11553914B2 (en) 2020-12-22 2023-01-17 Covidien Lp Surgical stapling device with parallel jaw closure
US11553920B2 (en) 2021-05-03 2023-01-17 Covidien Lp Trocar retainer assembly for surgical stapler
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
US11564691B2 (en) 2018-08-24 2023-01-31 Covidien Lp Powered circular stapling device
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11564684B2 (en) 2017-02-17 2023-01-31 Cilag Gmbh International Surgical stapling end effector component with tip having varying bend angle
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11571215B2 (en) 2010-09-30 2023-02-07 Cilag Gmbh International Layer of material for a surgical end effector
US11571264B2 (en) 2007-12-18 2023-02-07 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11576671B1 (en) 2021-08-20 2023-02-14 Covidien Lp Small diameter linear surgical stapling apparatus
US11576675B2 (en) 2021-06-07 2023-02-14 Covidien Lp Staple cartridge with knife
US11576670B2 (en) 2021-05-06 2023-02-14 Covidien Lp Surgical stapling device with optimized drive assembly
US11576674B2 (en) 2020-10-06 2023-02-14 Covidien Lp Surgical stapling device with articulation lock assembly
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11583273B2 (en) 2013-12-23 2023-02-21 Cilag Gmbh International Surgical stapling system including a firing beam extending through an articulation region
US11589932B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11589916B2 (en) 2019-12-30 2023-02-28 Cilag Gmbh International Electrosurgical instruments with electrodes having variable energy densities
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US11596291B2 (en) 2017-12-28 2023-03-07 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying of the location of the tissue within the jaws
US11601371B2 (en) 2017-12-28 2023-03-07 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11602344B2 (en) 2021-06-30 2023-03-14 Covidien Lp Surgical stapling apparatus with firing lockout assembly
US11602393B2 (en) 2017-12-28 2023-03-14 Cilag Gmbh International Surgical evacuation sensing and generator control
US11602342B2 (en) 2020-08-27 2023-03-14 Covidien Lp Surgical stapling device with laser probe
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11612409B2 (en) 2019-08-30 2023-03-28 Cilag Gmbh International Ultrasonic transducer alignment of an articulating ultrasonic surgical instrument
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
US11612400B2 (en) 2021-05-24 2023-03-28 Covidien Lp Trocar assembly with bearing assembly for load sharing
US11617579B2 (en) 2021-06-29 2023-04-04 Covidien Lp Ultra low profile surgical stapling instrument for tissue resections
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11622767B2 (en) 2020-02-19 2023-04-11 Covidien Lp Sealed trocar assembly for stapling device
US11622763B2 (en) 2013-04-16 2023-04-11 Cilag Gmbh International Stapling assembly comprising a shiftable drive
US11627967B2 (en) 2020-11-23 2023-04-18 Covidien Lp Trans-anastomotic insertion device
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11627966B2 (en) 2020-08-26 2023-04-18 Covidien Lp Surgical stapling device
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11628039B2 (en) 2006-02-16 2023-04-18 Globus Medical Inc. Surgical tool systems and methods
US11638582B2 (en) 2020-07-28 2023-05-02 Cilag Gmbh International Surgical instruments with torsion spine drive arrangements
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11642126B2 (en) 2016-11-04 2023-05-09 Covidien Lp Surgical stapling apparatus with tissue pockets
US11642131B2 (en) 2021-05-17 2023-05-09 Covidien Lp Devices and methods for shortening a rectal stump during a lower anterior resection procedure
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11650111B2 (en) 2007-12-18 2023-05-16 Intuitive Surgical Operations, Inc. Ribbed force sensor
US11653922B2 (en) 2021-09-29 2023-05-23 Covidien Lp Surgical stapling device with firing lockout mechanism
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11653925B2 (en) 2020-05-21 2023-05-23 Covidien Lp Tissue relaxation monitoring for optimized tissue stapling
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US11660089B2 (en) 2019-12-30 2023-05-30 Cilag Gmbh International Surgical instrument comprising a sensing system
US11660092B2 (en) 2020-09-29 2023-05-30 Covidien Lp Adapter for securing loading units to handle assemblies of surgical stapling instruments
US11660094B2 (en) 2021-09-29 2023-05-30 Covidien Lp Surgical fastening instrument with two-part surgical fasteners
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US11666330B2 (en) 2021-04-05 2023-06-06 Covidien Lp Surgical stapling device with lockout mechanism
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11678878B2 (en) 2020-09-16 2023-06-20 Covidien Lp Articulation mechanism for surgical stapling device
US11678877B2 (en) 2014-12-18 2023-06-20 Cilag Gmbh International Surgical instrument including a flexible support configured to support a flexible firing member
US11684412B2 (en) 2019-12-30 2023-06-27 Cilag Gmbh International Surgical instrument with rotatable and articulatable surgical end effector
US11684367B2 (en) 2016-12-21 2023-06-27 Cilag Gmbh International Stepped assembly having and end-of-life indicator
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11690619B2 (en) 2016-06-24 2023-07-04 Cilag Gmbh International Staple cartridge comprising staples having different geometries
US11690642B2 (en) 2019-08-30 2023-07-04 Cilag Gmbh International Ultrasonic surgical instrument with a multi-planar articulating shaft assembly
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11696776B2 (en) 2019-12-30 2023-07-11 Cilag Gmbh International Articulatable surgical instrument
US11696755B2 (en) 2021-05-19 2023-07-11 Covidien Lp Surgical stapling device with reload assembly removal lockout
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11701119B2 (en) 2021-05-26 2023-07-18 Covidien Lp Powered stapling device with rack release
US11707275B2 (en) 2021-06-29 2023-07-25 Covidien Lp Asymmetrical surgical stapling device
US11707277B2 (en) 2021-08-20 2023-07-25 Covidien Lp Articulating surgical stapling apparatus with pivotable knife bar guide assembly
US11707278B2 (en) 2020-03-06 2023-07-25 Covidien Lp Surgical stapler tool assembly to minimize bleeding
US11707335B2 (en) 2005-12-30 2023-07-25 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US11707274B2 (en) 2019-12-06 2023-07-25 Covidien Lp Articulating mechanism for surgical instrument
US11712261B2 (en) 2019-08-30 2023-08-01 Cilag Gmbh International Rotatable linear actuation mechanism
US11712509B2 (en) 2020-10-02 2023-08-01 Covidien Lp Seal assembly for circular stapling instrument
US11717300B2 (en) 2021-03-11 2023-08-08 Covidien Lp Surgical stapling apparatus with integrated visualization
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US11717294B2 (en) 2014-04-16 2023-08-08 Cilag Gmbh International End effector arrangements comprising indicators
US11717299B2 (en) 2021-10-12 2023-08-08 Covidien Lp Surgical stapling device with probiotics
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11723660B2 (en) 2017-05-02 2023-08-15 Covidien Lp Surgical loading unit including an articulating end effector
US11723716B2 (en) 2019-12-30 2023-08-15 Cilag Gmbh International Electrosurgical instrument with variable control mechanisms
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11723662B2 (en) 2021-05-28 2023-08-15 Cilag Gmbh International Stapling instrument comprising an articulation control display
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11730481B2 (en) 2020-01-06 2023-08-22 Covidien Lp Assemblies for retaining a trocar assembly
US11737774B2 (en) 2020-12-04 2023-08-29 Covidien Lp Surgical instrument with articulation assembly
US11737759B2 (en) 2021-08-05 2023-08-29 Covidien Lp Surgical stapling device accommodating prolapsed tissue
US11737747B2 (en) 2019-12-17 2023-08-29 Covidien Lp Hand-held surgical instruments
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11737766B2 (en) 2014-01-15 2023-08-29 Globus Medical Inc. Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11744582B2 (en) 2021-01-05 2023-09-05 Covidien Lp Surgical stapling device with firing lockout mechanism
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11759206B2 (en) 2021-01-05 2023-09-19 Covidien Lp Surgical stapling device with firing lockout mechanism
US11759251B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Control program adaptation based on device status and user input
US11759207B2 (en) 2021-01-27 2023-09-19 Covidien Lp Surgical stapling apparatus with adjustable height clamping member
US11766259B2 (en) 2016-12-21 2023-09-26 Cilag Gmbh International Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US11766260B2 (en) 2016-12-21 2023-09-26 Cilag Gmbh International Methods of stapling tissue
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11771423B2 (en) 2021-05-25 2023-10-03 Covidien Lp Powered stapling device with manual retraction
US11779387B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Clamp arm jaw to minimize tissue sticking and improve tissue control
US11779329B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Surgical instrument comprising a flex circuit including a sensor system
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11779334B2 (en) 2021-08-19 2023-10-10 Covidien Lp Surgical stapling device including a manual retraction assembly
US11779343B2 (en) 2020-02-26 2023-10-10 Covidien Lp Staple reload assembly with releasable knife
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11786291B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Deflectable support of RF energy electrode with respect to opposing ultrasonic blade
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11786241B2 (en) 2021-02-16 2023-10-17 Covidien Lp Surgical stapling device including a hydraulic staple formation mechanism
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11793522B2 (en) 2015-09-30 2023-10-24 Cilag Gmbh International Staple cartridge assembly including a compressible adjunct
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11801054B2 (en) 2020-09-22 2023-10-31 Covidien Lp Surgical stapler with oval tool assembly
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11813030B2 (en) 2017-03-16 2023-11-14 Globus Medical, Inc. Robotic navigation of robotic surgical systems
US11812957B2 (en) 2019-12-30 2023-11-14 Cilag Gmbh International Surgical instrument comprising a signal interference resolution system
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11815412B2 (en) 2018-11-15 2023-11-14 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11812956B2 (en) 2021-05-18 2023-11-14 Covidien Lp Dual firing radial stapling device
US11819200B2 (en) 2020-12-15 2023-11-21 Covidien Lp Surgical instrument with articulation assembly
US11819365B2 (en) 2012-06-21 2023-11-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11826132B2 (en) 2015-03-06 2023-11-28 Cilag Gmbh International Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11826048B2 (en) 2017-06-28 2023-11-28 Cilag Gmbh International Surgical instrument comprising selectively actuatable rotatable couplers
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11844517B2 (en) 2020-06-25 2023-12-19 Covidien Lp Linear stapling device with continuously parallel jaws
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11849949B2 (en) 2021-09-30 2023-12-26 Covidien Lp Surgical stapling device with firing lockout member
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US11850009B2 (en) 2021-07-06 2023-12-26 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11864761B2 (en) 2021-09-14 2024-01-09 Covidien Lp Surgical instrument with illumination mechanism
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11864851B2 (en) 2016-07-14 2024-01-09 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US11872000B2 (en) 2015-08-31 2024-01-16 Globus Medical, Inc Robotic surgical systems and methods
US11877750B2 (en) 2021-01-21 2024-01-23 Covidien Lp Surgical stapler with powered and manual functions
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11883026B2 (en) 2014-04-16 2024-01-30 Cilag Gmbh International Fastener cartridge assemblies and staple retainer cover arrangements
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11883028B2 (en) 2021-09-08 2024-01-30 Covidien Lp Systems and methods for post-operative anastomotic leak detection
US11890065B2 (en) 2017-12-28 2024-02-06 Cilag Gmbh International Surgical system to limit displacement
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US11890014B2 (en) 2020-02-14 2024-02-06 Covidien Lp Cartridge holder for surgical staples and having ridges in peripheral walls for gripping tissue
US11890007B2 (en) 2020-11-18 2024-02-06 Covidien Lp Stapling device with flex cable and tensioning mechanism
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11896233B2 (en) 2019-05-31 2024-02-13 Covidien Lp Circular stapling device
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11896338B2 (en) 2017-03-21 2024-02-13 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11903587B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Adjustment to the surgical stapling control based on situational awareness
US11911225B2 (en) 2012-06-21 2024-02-27 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11911038B2 (en) 2020-01-13 2024-02-27 Covidien Lp Cut optimization for excessive tissue conditions
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11911063B2 (en) 2019-12-30 2024-02-27 Cilag Gmbh International Techniques for detecting ultrasonic blade to electrode contact and reducing power to ultrasonic blade
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11931110B2 (en) 2018-12-14 2024-03-19 Cilag Gmbh International Surgical instrument comprising a control system that uses input from a strain gage circuit

Families Citing this family (152)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8905977B2 (en) 2004-07-28 2014-12-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser
US8763879B2 (en) 2006-01-31 2014-07-01 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of surgical instrument
US8161977B2 (en) 2006-01-31 2012-04-24 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US8584921B2 (en) 2006-10-06 2013-11-19 Covidien Lp Surgical instrument with articulating tool assembly
US8459520B2 (en) 2007-01-10 2013-06-11 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and remote sensor
US20080234709A1 (en) 2007-03-22 2008-09-25 Houser Kevin L Ultrasonic surgical instrument and cartilage and bone shaping blades therefor
US8226675B2 (en) 2007-03-22 2012-07-24 Ethicon Endo-Surgery, Inc. Surgical instruments
US8534528B2 (en) 2007-06-04 2013-09-17 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US7832408B2 (en) 2007-06-04 2010-11-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US8882791B2 (en) 2007-07-27 2014-11-11 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
US8453908B2 (en) 2008-02-13 2013-06-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US8540133B2 (en) 2008-09-19 2013-09-24 Ethicon Endo-Surgery, Inc. Staple cartridge
US7766209B2 (en) 2008-02-13 2010-08-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US8622274B2 (en) 2008-02-14 2014-01-07 Ethicon Endo-Surgery, Inc. Motorized cutting and fastening instrument having control circuit for optimizing battery usage
US8459525B2 (en) 2008-02-14 2013-06-11 Ethicon Endo-Sugery, Inc. Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device
US8584919B2 (en) 2008-02-14 2013-11-19 Ethicon Endo-Sugery, Inc. Surgical stapling apparatus with load-sensitive firing mechanism
US8752749B2 (en) 2008-02-14 2014-06-17 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US7793812B2 (en) 2008-02-14 2010-09-14 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US8608044B2 (en) 2008-02-15 2013-12-17 Ethicon Endo-Surgery, Inc. Feedback and lockout mechanism for surgical instrument
US20090206139A1 (en) * 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material for a surgical instrument
US8058771B2 (en) 2008-08-06 2011-11-15 Ethicon Endo-Surgery, Inc. Ultrasonic device for cutting and coagulating with stepped output
US9050083B2 (en) 2008-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US8628544B2 (en) 2008-09-23 2014-01-14 Covidien Lp Knife bar for surgical instrument
US7896214B2 (en) 2008-09-23 2011-03-01 Tyco Healthcare Group Lp Tissue stop for surgical instrument
US7988028B2 (en) 2008-09-23 2011-08-02 Tyco Healthcare Group Lp Surgical instrument having an asymmetric dynamic clamping member
US8360298B2 (en) 2008-09-23 2013-01-29 Covidien Lp Surgical instrument and loading unit for use therewith
US8215532B2 (en) 2008-09-23 2012-07-10 Tyco Healthcare Group Lp Tissue stop for surgical instrument
US8414577B2 (en) 2009-02-05 2013-04-09 Ethicon Endo-Surgery, Inc. Surgical instruments and components for use in sterile environments
US8397971B2 (en) 2009-02-05 2013-03-19 Ethicon Endo-Surgery, Inc. Sterilizable surgical instrument
US8334635B2 (en) * 2009-06-24 2012-12-18 Ethicon Endo-Surgery, Inc. Transducer arrangements for ultrasonic surgical instruments
US8461744B2 (en) 2009-07-15 2013-06-11 Ethicon Endo-Surgery, Inc. Rotating transducer mount for ultrasonic surgical instruments
US9017326B2 (en) 2009-07-15 2015-04-28 Ethicon Endo-Surgery, Inc. Impedance monitoring apparatus, system, and method for ultrasonic surgical instruments
US10441345B2 (en) 2009-10-09 2019-10-15 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
USRE47996E1 (en) 2009-10-09 2020-05-19 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
US8141762B2 (en) 2009-10-09 2012-03-27 Ethicon Endo-Surgery, Inc. Surgical stapler comprising a staple pocket
US9168054B2 (en) 2009-10-09 2015-10-27 Ethicon Endo-Surgery, Inc. Surgical generator for ultrasonic and electrosurgical devices
US8353439B2 (en) 2009-11-19 2013-01-15 Ethicon Endo-Surgery, Inc. Circular stapler introducer with radially-openable distal end portion
US8579928B2 (en) 2010-02-11 2013-11-12 Ethicon Endo-Surgery, Inc. Outer sheath and blade arrangements for ultrasonic surgical instruments
US8531064B2 (en) 2010-02-11 2013-09-10 Ethicon Endo-Surgery, Inc. Ultrasonically powered surgical instruments with rotating cutting implement
US8961547B2 (en) 2010-02-11 2015-02-24 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments with moving cutting implement
US8834518B2 (en) 2010-04-12 2014-09-16 Ethicon Endo-Surgery, Inc. Electrosurgical cutting and sealing instruments with cam-actuated jaws
US8801734B2 (en) 2010-07-30 2014-08-12 Ethicon Endo-Surgery, Inc. Circular stapling instruments with secondary cutting arrangements and methods of using same
US8789740B2 (en) 2010-07-30 2014-07-29 Ethicon Endo-Surgery, Inc. Linear cutting and stapling device with selectively disengageable cutting member
US9877720B2 (en) 2010-09-24 2018-01-30 Ethicon Llc Control features for articulating surgical device
US8893949B2 (en) 2010-09-30 2014-11-25 Ethicon Endo-Surgery, Inc. Surgical stapler with floating anvil
US9044228B2 (en) 2010-09-30 2015-06-02 Ethicon Endo-Surgery, Inc. Fastener system comprising a plurality of fastener cartridges
US8979890B2 (en) 2010-10-01 2015-03-17 Ethicon Endo-Surgery, Inc. Surgical instrument with jaw member
US8899461B2 (en) 2010-10-01 2014-12-02 Covidien Lp Tissue stop for surgical instrument
US8800841B2 (en) 2011-03-15 2014-08-12 Ethicon Endo-Surgery, Inc. Surgical staple cartridges
US9044229B2 (en) 2011-03-15 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical fastener instruments
US8926598B2 (en) 2011-03-15 2015-01-06 Ethicon Endo-Surgery, Inc. Surgical instruments with articulatable and rotatable end effector
US8763876B2 (en) 2011-06-30 2014-07-01 Covidien Lp Surgical instrument and cartridge for use therewith
US9724095B2 (en) * 2011-08-08 2017-08-08 Covidien Lp Surgical fastener applying apparatus
US9044243B2 (en) 2011-08-30 2015-06-02 Ethcon Endo-Surgery, Inc. Surgical cutting and fastening device with descendible second trigger arrangement
US9198661B2 (en) 2011-09-06 2015-12-01 Ethicon Endo-Surgery, Inc. Stapling instrument comprising a plurality of staple cartridges stored therein
US9016539B2 (en) 2011-10-25 2015-04-28 Covidien Lp Multi-use loading unit
US8740036B2 (en) 2011-12-01 2014-06-03 Covidien Lp Surgical instrument with actuator spring arm
US9226766B2 (en) 2012-04-09 2016-01-05 Ethicon Endo-Surgery, Inc. Serial communication protocol for medical device
US9237921B2 (en) 2012-04-09 2016-01-19 Ethicon Endo-Surgery, Inc. Devices and techniques for cutting and coagulating tissue
US9724118B2 (en) 2012-04-09 2017-08-08 Ethicon Endo-Surgery, Llc Techniques for cutting and coagulating tissue for ultrasonic surgical instruments
US9241731B2 (en) 2012-04-09 2016-01-26 Ethicon Endo-Surgery, Inc. Rotatable electrical connection for ultrasonic surgical instruments
US9526497B2 (en) * 2012-05-07 2016-12-27 Covidien Lp Surgical instrument with articulation mechanism
US8747238B2 (en) 2012-06-28 2014-06-10 Ethicon Endo-Surgery, Inc. Rotary drive shaft assemblies for surgical instruments with articulatable end effectors
US9283045B2 (en) 2012-06-29 2016-03-15 Ethicon Endo-Surgery, Llc Surgical instruments with fluid management system
US10201365B2 (en) 2012-10-22 2019-02-12 Ethicon Llc Surgeon feedback sensing and display methods
ES2736004T3 (en) * 2012-11-14 2019-12-23 Covidien Lp Multipurpose Charging Unit
US9566065B2 (en) * 2012-12-21 2017-02-14 Cardica, Inc. Apparatus and methods for surgical stapler clamping and deployment
MX365654B (en) 2013-02-08 2019-06-10 Ethicon Endo Surgery Inc Multiple thickness implantable layers for surgical stapling devices.
US20140224857A1 (en) 2013-02-08 2014-08-14 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a compressible portion
US10092292B2 (en) 2013-02-28 2018-10-09 Ethicon Llc Staple forming features for surgical stapling instrument
US9867615B2 (en) 2013-02-28 2018-01-16 Ethicon Llc Surgical instrument with articulation lock having a detenting binary spring
US9795379B2 (en) 2013-02-28 2017-10-24 Ethicon Llc Surgical instrument with multi-diameter shaft
US9808248B2 (en) 2013-02-28 2017-11-07 Ethicon Llc Installation features for surgical instrument end effector cartridge
US9839421B2 (en) 2013-02-28 2017-12-12 Ethicon Llc Jaw closure feature for end effector of surgical instrument
US9622746B2 (en) 2013-02-28 2017-04-18 Ethicon Endo-Surgery, Llc Distal tip features for end effector of surgical instrument
US9717498B2 (en) 2013-03-13 2017-08-01 Covidien Lp Surgical stapling apparatus
US9814463B2 (en) 2013-03-13 2017-11-14 Covidien Lp Surgical stapling apparatus
US9668728B2 (en) 2013-03-13 2017-06-06 Covidien Lp Surgical stapling apparatus
US9220569B2 (en) 2013-03-13 2015-12-29 Ethicon Endo-Surgery, Inc. Electrosurgical device with disposable shaft having translating gear and snap fit
US9629628B2 (en) 2013-03-13 2017-04-25 Covidien Lp Surgical stapling apparatus
US9107685B2 (en) 2013-03-13 2015-08-18 Ethicon Endo-Surgery, Inc. Electrosurgical device with disposable shaft having clamshell coupling
US9241728B2 (en) 2013-03-15 2016-01-26 Ethicon Endo-Surgery, Inc. Surgical instrument with multiple clamping mechanisms
US9510827B2 (en) 2013-03-25 2016-12-06 Covidien Lp Micro surgical instrument and loading unit for use therewith
US20140291379A1 (en) 2013-03-27 2014-10-02 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a cutting member path
US10426661B2 (en) 2013-08-13 2019-10-01 Auris Health, Inc. Method and apparatus for laser assisted cataract surgery
US9597074B2 (en) * 2013-08-15 2017-03-21 Ethicon Endo-Surgery, Llc Endoluminal stapler with rotating wheel cam for multi-staple firing
US9636112B2 (en) * 2013-08-16 2017-05-02 Covidien Lp Chip assembly for reusable surgical instruments
US9662108B2 (en) 2013-08-30 2017-05-30 Covidien Lp Surgical stapling apparatus
US20140171986A1 (en) 2013-09-13 2014-06-19 Ethicon Endo-Surgery, Inc. Surgical Clip Having Comliant Portion
US20180132849A1 (en) * 2016-11-14 2018-05-17 Ethicon Endo-Surgery, Llc Staple forming pocket configurations for circular surgical stapler anvil
US10561417B2 (en) * 2013-12-09 2020-02-18 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
ES2755485T3 (en) * 2013-12-09 2020-04-22 Covidien Lp Adapter assembly for the interconnection of electromechanical surgical devices and surgical load units, and surgical systems thereof
US9655616B2 (en) * 2014-01-22 2017-05-23 Covidien Lp Apparatus for endoscopic procedures
US9629627B2 (en) * 2014-01-28 2017-04-25 Coviden Lp Surgical apparatus
US9706674B2 (en) * 2014-02-04 2017-07-11 Covidien Lp Authentication system for reusable surgical instruments
US9848874B2 (en) 2014-02-14 2017-12-26 Covidien Lp Small diameter endoscopic stapler
US9382801B2 (en) 2014-02-26 2016-07-05 General Electric Company Method for removing a rotor bucket from a turbomachine rotor wheel
US10524852B1 (en) 2014-03-28 2020-01-07 Ethicon Llc Distal sealing end effector with spacers
US9757126B2 (en) 2014-03-31 2017-09-12 Covidien Lp Surgical stapling apparatus with firing lockout mechanism
US9757186B2 (en) 2014-04-17 2017-09-12 Ethicon Llc Device status feedback for bipolar tissue spacer
US9668733B2 (en) 2014-04-21 2017-06-06 Covidien Lp Stapling device with features to prevent inadvertent firing of staples
US9861366B2 (en) 2014-05-06 2018-01-09 Covidien Lp Ejecting assembly for a surgical stapler
BR112016030332B1 (en) 2014-06-25 2022-11-01 Ethicon Endo-Surgery, Llc LOCKING DEVICE FOR SURGICAL STAPLER
US9700333B2 (en) 2014-06-30 2017-07-11 Ethicon Llc Surgical instrument with variable tissue compression
US10194976B2 (en) 2014-08-25 2019-02-05 Ethicon Llc Lockout disabling mechanism
US9877776B2 (en) 2014-08-25 2018-01-30 Ethicon Llc Simultaneous I-beam and spring driven cam jaw closure mechanism
US10194972B2 (en) 2014-08-26 2019-02-05 Ethicon Llc Managing tissue treatment
US10117649B2 (en) * 2014-12-18 2018-11-06 Ethicon Llc Surgical instrument assembly comprising a lockable articulation system
US10092348B2 (en) 2014-12-22 2018-10-09 Ethicon Llc RF tissue sealer, shear grip, trigger lock mechanism and energy activation
US10111699B2 (en) 2014-12-22 2018-10-30 Ethicon Llc RF tissue sealer, shear grip, trigger lock mechanism and energy activation
CN107206586A (en) * 2015-02-26 2017-09-26 奥林巴斯株式会社 Operate input unit and medical manipulator system
US10092290B2 (en) 2015-03-17 2018-10-09 Covidien Lp Surgical instrument, loading unit for use therewith and related methods
US20160287279A1 (en) 2015-04-01 2016-10-06 Auris Surgical Robotics, Inc. Microsurgical tool for robotic applications
US10117702B2 (en) 2015-04-10 2018-11-06 Ethicon Llc Surgical generator systems and related methods
US10130410B2 (en) 2015-04-17 2018-11-20 Ethicon Llc Electrosurgical instrument including a cutting member decouplable from a cutting member trigger
US9872725B2 (en) 2015-04-29 2018-01-23 Ethicon Llc RF tissue sealer with mode selection
EP4245227A3 (en) 2015-05-08 2024-01-17 Bolder Surgical, LLC Surgical stapler
EP3302302A4 (en) * 2015-05-25 2019-02-20 Covidien LP Small diameter surgical stapling device
US10034684B2 (en) 2015-06-15 2018-07-31 Ethicon Llc Apparatus and method for dissecting and coagulating tissue
US10517602B2 (en) * 2015-06-26 2019-12-31 Ethicon Llc Surgical stapler with reversible polarity
US10405855B2 (en) * 2015-06-26 2019-09-10 Ethicon Llc Firing circuit for surgical stapler
US10201348B2 (en) 2015-07-28 2019-02-12 Ethicon Llc Surgical stapler cartridge with compression features at staple driver edges
US20170105727A1 (en) 2015-10-15 2017-04-20 Ethicon Endo-Surgery, Llc Surgical stapler with progressively driven asymmetric alternating staple drivers
US9955986B2 (en) 2015-10-30 2018-05-01 Auris Surgical Robotics, Inc. Basket apparatus
US9949749B2 (en) 2015-10-30 2018-04-24 Auris Surgical Robotics, Inc. Object capture with a basket
US10639108B2 (en) 2015-10-30 2020-05-05 Auris Health, Inc. Process for percutaneous operations
US10363035B2 (en) * 2016-08-16 2019-07-30 Ethicon Llc Stapler tool with rotary drive lockout
US10729509B2 (en) * 2017-12-19 2020-08-04 Ethicon Llc Surgical instrument comprising closure and firing locking mechanism
US11096693B2 (en) * 2017-12-28 2021-08-24 Cilag Gmbh International Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing
KR102579505B1 (en) 2018-06-07 2023-09-20 아우리스 헬스, 인코포레이티드 Robotic medical system with high-power instruments
US11399905B2 (en) 2018-06-28 2022-08-02 Auris Health, Inc. Medical systems incorporating pulley sharing
US11272948B2 (en) * 2018-07-10 2022-03-15 Covidien Lp Hand-held surgical instruments
CN112566584A (en) 2018-08-15 2021-03-26 奥瑞斯健康公司 Medical instrument for tissue cauterization
EP3813716A4 (en) 2018-09-26 2022-07-13 Auris Health, Inc. Systems and instruments for suction and irrigation
US11576738B2 (en) 2018-10-08 2023-02-14 Auris Health, Inc. Systems and instruments for tissue sealing
US11534248B2 (en) 2019-03-25 2022-12-27 Auris Health, Inc. Systems and methods for medical stapling
US11369386B2 (en) 2019-06-27 2022-06-28 Auris Health, Inc. Systems and methods for a medical clip applier
WO2020263949A1 (en) 2019-06-28 2020-12-30 Auris Health, Inc. Medical instruments including wrists with hybrid redirect surfaces
CA3143258A1 (en) * 2019-07-10 2021-01-14 Boston Scientific Scimed, Inc. Systems, devices, and related methods for fastening tissue
US11896330B2 (en) 2019-08-15 2024-02-13 Auris Health, Inc. Robotic medical system having multiple medical instruments
EP4034349A1 (en) 2019-09-26 2022-08-03 Auris Health, Inc. Systems and methods for collision detection and avoidance
WO2021064536A1 (en) 2019-09-30 2021-04-08 Auris Health, Inc. Medical instrument with capstan
US11737835B2 (en) 2019-10-29 2023-08-29 Auris Health, Inc. Braid-reinforced insulation sheath
US11534163B2 (en) 2019-11-21 2022-12-27 Covidien Lp Surgical stapling instruments
CN114901200A (en) 2019-12-31 2022-08-12 奥瑞斯健康公司 Advanced basket drive mode
US11839969B2 (en) 2020-06-29 2023-12-12 Auris Health, Inc. Systems and methods for detecting contact between a link and an external object
US11357586B2 (en) 2020-06-30 2022-06-14 Auris Health, Inc. Systems and methods for saturated robotic movement
CN113693646B (en) * 2021-10-28 2021-12-28 极限人工智能(北京)有限公司 Control handle, instrument and minimally invasive surgery robot
EP4308011A1 (en) * 2022-03-29 2024-01-24 Cilag GmbH International Surgical stapler cartridge with 3d printable features
WO2024017215A1 (en) * 2022-07-18 2024-01-25 天臣国际医疗科技股份有限公司 Platform assembly and stapler
WO2024017213A1 (en) * 2022-07-18 2024-01-25 天臣国际医疗科技股份有限公司 Platform assembly and stapler
WO2024017212A1 (en) * 2022-07-18 2024-01-25 天臣国际医疗科技股份有限公司 Platform assembly and stapler

Citations (1591)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US66052A (en) 1867-06-25 smith
US662587A (en) 1900-05-18 1900-11-27 Charles Chandler Blake Insulated support for electric conductors.
US951393A (en) 1909-04-06 1910-03-08 John N Hahn Staple.
DE273689C (en) 1913-08-07 1914-05-08
US2037727A (en) 1934-12-27 1936-04-21 United Shoe Machinery Corp Fastening
US2132295A (en) 1937-05-05 1938-10-04 Hawkins Earl Stapling device
US2161632A (en) 1937-12-20 1939-06-06 Martin L Nattenheimer Fastening device
US2211117A (en) 1937-09-06 1940-08-13 Rieter Joh Jacob & Cie Ag Device for drawing rovings in speeders and spinning machines
US2214870A (en) 1938-08-10 1940-09-17 William J West Siding cutter
US2441096A (en) 1944-09-04 1948-05-04 Singer Mfg Co Control means for portable electric tools
US2526902A (en) 1947-07-31 1950-10-24 Norman C Rublee Insulating staple
FR999646A (en) 1949-11-16 1952-02-04 Cable clamp device
US2674149A (en) 1952-03-01 1954-04-06 Jerry S Benson Multiple pronged fastener device with spreading means
FR1112936A (en) 1954-10-20 1956-03-20 Electric motor and three-speed control enclosed in a sheath
US2804848A (en) 1954-09-30 1957-09-03 Chicago Pneumatic Tool Co Drilling apparatus
US2808482A (en) 1956-04-12 1957-10-01 Miniature Switch Corp Toggle switch construction
US2853074A (en) 1956-06-15 1958-09-23 Edward A Olson Stapling instrument for surgical purposes
DE1775926U (en) 1958-06-11 1958-10-16 Rudolf W Dipl Ing Ihmig BALLPOINT REFILL.
US3032769A (en) 1959-08-18 1962-05-08 John R Palmer Method of making a bracket
US3075062A (en) 1960-02-02 1963-01-22 J B T Instr Inc Toggle switch
US3078465A (en) 1959-09-09 1963-02-26 Bobrov Boris Sergueevitch Instrument for stitching gastric stump
GB939929A (en) 1959-10-30 1963-10-16 Vasilii Fedotovich Goodov Instrument for stitching blood vessels, intestines, bronchi and other soft tissues
US3166072A (en) 1962-10-22 1965-01-19 Jr John T Sullivan Barbed clips
US3266494A (en) 1963-08-26 1966-08-16 Possis Machine Corp Powered forceps
US3269630A (en) 1964-04-30 1966-08-30 Fleischer Harry Stapling instrument
US3357296A (en) 1965-05-14 1967-12-12 Keuneth W Lefever Staple fastener
US3490675A (en) 1966-10-10 1970-01-20 United States Surgical Corp Instrument for placing lateral gastrointestinal anastomoses
US3494533A (en) 1966-10-10 1970-02-10 United States Surgical Corp Surgical stapler for stitching body organs
GB1210522A (en) 1966-10-10 1970-10-28 United States Surgical Corp Instrument for placing lateral gastro-intestinal anastomoses
GB1217159A (en) 1967-12-05 1970-12-31 Coventry Gauge & Tool Co Ltd Torque limiting device
US3551987A (en) 1968-09-12 1971-01-05 Jack E Wilkinson Stapling clamp for gastrointestinal surgery
US3598943A (en) 1969-12-01 1971-08-10 Illinois Tool Works Actuator assembly for toggle switch
US3643851A (en) 1969-08-25 1972-02-22 United States Surgical Corp Skin stapler
US3662939A (en) 1970-02-26 1972-05-16 United States Surgical Corp Surgical stapler for skin and fascia
US3717294A (en) 1970-12-14 1973-02-20 Surgical Corp Cartridge and powering instrument for stapling skin and fascia
US3734207A (en) 1971-12-27 1973-05-22 M Fishbein Battery powered orthopedic cutting tool
US3740994A (en) 1970-10-13 1973-06-26 Surgical Corp Three stage medical instrument
US3744495A (en) 1970-01-02 1973-07-10 M Johnson Method of securing prolapsed vagina in cattle
US3746002A (en) 1971-04-29 1973-07-17 J Haller Atraumatic surgical clamp
US3751902A (en) 1972-02-22 1973-08-14 Emhart Corp Apparatus for installing insulation on a staple
GB1339394A (en) 1972-04-06 1973-12-05 Vnii Khirurgicheskoi Apparatur Dies for surgical stapling instruments
US3819100A (en) 1972-09-29 1974-06-25 United States Surgical Corp Surgical stapling instrument
US3821919A (en) 1972-11-10 1974-07-02 Illinois Tool Works Staple
US3885491A (en) 1973-12-21 1975-05-27 Illinois Tool Works Locking staple
US3892228A (en) 1972-10-06 1975-07-01 Olympus Optical Co Apparatus for adjusting the flexing of the bending section of an endoscope
US3894174A (en) 1974-07-03 1975-07-08 Emhart Corp Insulated staple and method of making the same
US3940844A (en) 1972-02-22 1976-03-02 Pci Group, Inc. Method of installing an insulating sleeve on a staple
USRE28932E (en) 1972-09-29 1976-08-17 United States Surgical Corporation Surgical stapling instrument
US4060089A (en) 1975-09-03 1977-11-29 United States Surgical Corporation Surgical fastening method and device therefor
US4129059A (en) 1974-11-07 1978-12-12 Eck William F Van Staple-type fastener
US4213562A (en) 1977-04-29 1980-07-22 Roger Garrett Programmer
US4250436A (en) 1979-09-24 1981-02-10 The Singer Company Motor braking arrangement and method
US4261244A (en) 1979-05-14 1981-04-14 Senco Products, Inc. Surgical staple
US4272662A (en) 1979-05-21 1981-06-09 C & K Components, Inc. Toggle switch with shaped wire spring contact
US4275813A (en) 1979-06-04 1981-06-30 United States Surgical Corporation Coherent surgical staple array
US4289133A (en) 1980-02-28 1981-09-15 Senco Products, Inc. Cut-through backup washer for the scalpel of an intraluminal surgical stapling instrument
SU886900A1 (en) 1979-03-26 1981-12-07 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Surgical apparatus for applying line sutures
US4317451A (en) 1980-02-19 1982-03-02 Ethicon, Inc. Plastic surgical staple
US4321002A (en) 1978-03-27 1982-03-23 Minnesota Mining And Manufacturing Company Medical stapling device
DE3036217A1 (en) 1980-09-25 1982-04-08 Siemens AG, 1000 Berlin und 8000 München Infrared beam appts. for medical examinations - incorporates three transmission units, one on each face of console containing accumulator and mounted on stand
US4331277A (en) 1980-05-23 1982-05-25 United States Surgical Corporation Self-contained gas powered surgical stapler
US4340331A (en) 1979-03-26 1982-07-20 Savino Dominick J Staple and anviless stapling apparatus therefor
US4347450A (en) 1980-12-10 1982-08-31 Colligan Wallace M Portable power tool
WO1982002824A1 (en) 1981-02-17 1982-09-02 United States Surgical Corp Indicator for surgical stapler
US4349028A (en) 1980-10-03 1982-09-14 United States Surgical Corporation Surgical stapling apparatus having self-contained pneumatic system for completing manually initiated motion sequence
US4353371A (en) 1980-09-24 1982-10-12 Cosman Eric R Longitudinally, side-biting, bipolar coagulating, surgical instrument
SU1009439A1 (en) 1981-03-24 1983-04-07 Предприятие П/Я Р-6094 Surgical suturing device for application of anastomosis on digestive tract
US4380312A (en) 1980-07-17 1983-04-19 Minnesota Mining And Manufacturing Company Stapling tool
US4383634A (en) 1981-05-26 1983-05-17 United States Surgical Corporation Surgical stapler apparatus with pivotally mounted actuator assemblies
GB2109241A (en) 1981-09-11 1983-06-02 Fuji Photo Optical Co Ltd Endoscope together with another medical appliance
US4396139A (en) 1980-02-15 1983-08-02 Technalytics, Inc. Surgical stapling system, apparatus and staple
US4402445A (en) 1981-10-09 1983-09-06 United States Surgical Corporation Surgical fastener and means for applying same
DE3210466A1 (en) 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Method and device for carrying out handling processes
US4408692A (en) 1982-04-12 1983-10-11 The Kendall Company Sterile cover for instrument
US4415112A (en) 1981-10-27 1983-11-15 United States Surgical Corporation Surgical stapling assembly having resiliently mounted anvil
US4428376A (en) 1980-05-02 1984-01-31 Ethicon Inc. Plastic surgical staple
US4429695A (en) 1980-02-05 1984-02-07 United States Surgical Corporation Surgical instruments
US4434796A (en) 1981-04-07 1984-03-06 Vsesojuzny Nauchno-Issledovatelsky I Ispytatelny Institut Meditsinskoi Tekhniki Surgical staple, a method of and forceps for its removal
US4442964A (en) 1981-12-07 1984-04-17 Senco Products, Inc. Pressure sensitive and working-gap controlled surgical stapling instrument
US4451743A (en) 1980-12-29 1984-05-29 Citizen Watch Company Limited DC-to-DC Voltage converter
US4454887A (en) 1981-04-15 1984-06-19 Krueger Christian Medical instruments for introduction into the respiratory tract of a patient
US4467805A (en) 1982-08-25 1984-08-28 Mamoru Fukuda Skin closure stapling device for surgical procedures
US4475679A (en) 1981-08-07 1984-10-09 Fleury Jr George J Multi-staple cartridge for surgical staplers
EP0122046A1 (en) 1983-03-11 1984-10-17 Ethicon, Inc. Absorbable fastening device with internal locking means
US4485816A (en) 1981-06-25 1984-12-04 Alchemia Shape-memory surgical staple apparatus and method for use in surgical suturing
US4489875A (en) 1980-10-17 1984-12-25 United States Surgical Corporation Self-centering surgical staple and stapler for applying the same
US4500024A (en) 1980-11-19 1985-02-19 Ethicon, Inc. Multiple clip applier
US4505414A (en) 1983-10-12 1985-03-19 Filipi Charles J Expandable anvil surgical stapler
US4505273A (en) 1982-02-10 1985-03-19 Intermedicat Gmbh Surgical staple
US4506671A (en) 1983-03-30 1985-03-26 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
EP0070230B1 (en) 1981-07-09 1985-04-10 Tractel S.A. Declutching mechanism for a hauling apparatus through which runs a cable
US4520817A (en) 1980-02-05 1985-06-04 United States Surgical Corporation Surgical instruments
US4522327A (en) 1983-05-18 1985-06-11 United States Surgical Corporation Surgical fastener applying apparatus
US4526174A (en) 1981-03-27 1985-07-02 Minnesota Mining And Manufacturing Company Staple and cartridge for use in a tissue stapling device and a tissue closing method
US4527724A (en) 1983-06-10 1985-07-09 Senmed, Inc. Disposable linear surgical stapling instrument
US4530453A (en) 1983-10-04 1985-07-23 United States Surgical Corporation Surgical fastener applying apparatus
EP0156774A2 (en) 1984-03-30 1985-10-02 Senmed, Inc. Multiple-Load cartridge assembly for a linear surgical stapling instrument
US4548202A (en) 1983-06-20 1985-10-22 Ethicon, Inc. Mesh tissue fasteners
US4565189A (en) 1981-10-08 1986-01-21 Bio Mabuchi Co. Ltd. Beauty treatment device
US4566620A (en) 1984-10-19 1986-01-28 United States Surgical Corporation Articulated surgical fastener applying apparatus
US4573469A (en) 1983-06-20 1986-03-04 Ethicon, Inc. Two-piece tissue fastener with coinable leg staple and retaining receiver and method and instrument for applying same
US4573622A (en) 1984-10-19 1986-03-04 United States Surgical Corporation Surgical fastener applying apparatus with variable fastener arrays
US4576167A (en) 1981-09-03 1986-03-18 United States Surgical Corporation Surgical stapler apparatus with curved shaft
US4580712A (en) 1984-10-19 1986-04-08 United States Surgical Corporation Surgical fastener applying apparatus with progressive application of fastener
US4589416A (en) 1983-10-04 1986-05-20 United States Surgical Corporation Surgical fastener retainer member assembly
US4591085A (en) 1984-07-16 1986-05-27 Ethicon, Inc. Surgical instrument for applying fasteners, said instrument having an improved trigger interlocking mechanism (Case VI)
US4605004A (en) 1984-07-16 1986-08-12 Ethicon, Inc. Surgical instrument for applying fasteners said instrument including force supporting means (case IV)
US4605001A (en) 1984-10-19 1986-08-12 Senmed, Inc. Surgical stapling instrument with dual staple height mechanism
US4604786A (en) 1982-11-05 1986-08-12 The Grigoleit Company Method of making a composite article including a body having a decorative metal plate attached thereto
US4606343A (en) 1980-08-18 1986-08-19 United States Surgical Corporation Self-powered surgical fastening instrument
US4607638A (en) 1984-04-20 1986-08-26 Design Standards Corporation Surgical staples
US4608981A (en) 1984-10-19 1986-09-02 Senmed, Inc. Surgical stapling instrument with staple height adjusting mechanism
US4610383A (en) 1983-10-14 1986-09-09 Senmed, Inc. Disposable linear surgical stapler
US4610250A (en) 1985-10-08 1986-09-09 United States Surgical Corporation Two-part surgical fastener for fascia wound approximation
US4619262A (en) 1984-07-10 1986-10-28 Syncare, Inc. Surgical stapling device
US4629107A (en) 1983-08-16 1986-12-16 Vsesojuzny Nauchno-Issledovatelsky I Ispytatelny Institute Meditsinskoi Tekhniki Ligating instrument
US4632290A (en) 1981-08-17 1986-12-30 United States Surgical Corporation Surgical stapler apparatus
US4633874A (en) 1984-10-19 1987-01-06 Senmed, Inc. Surgical stapling instrument with jaw latching mechanism and disposable staple cartridge
US4641076A (en) 1985-01-23 1987-02-03 Hall Surgical-Division Of Zimmer, Inc. Method and apparatus for sterilizing and charging batteries
US4646722A (en) 1984-12-10 1987-03-03 Opielab, Inc. Protective endoscope sheath and method of installing same
US4655222A (en) 1984-07-30 1987-04-07 Ethicon, Inc. Coated surgical staple
US4663874A (en) 1984-02-24 1987-05-12 C. I. Kaseo Co., Ltd. Magnetically attachable sign
US4664305A (en) 1982-05-04 1987-05-12 Blake Joseph W Iii Surgical stapler
US4665916A (en) 1985-08-09 1987-05-19 United States Surgical Corporation Surgical stapler apparatus
US4667674A (en) 1983-10-04 1987-05-26 United States Surgical Corporation Surgical fastener exhibiting improved hemostasis
US4671445A (en) 1984-08-09 1987-06-09 Baxter Travenol Laboratories, Inc. Flexible surgical stapler assembly
US4676245A (en) 1983-02-09 1987-06-30 Mamoru Fukuda Interlocking surgical staple assembly
SU1333319A2 (en) 1985-12-10 1987-08-30 Петрозаводский государственный университет им.О.В.Куусинена Suture appliance for hollow organs
US4693248A (en) 1983-06-20 1987-09-15 Ethicon, Inc. Two-piece tissue fastener with deformable retaining receiver
US4709120A (en) 1986-06-06 1987-11-24 Pearson Dean C Underground utility equipment vault
EP0129442B1 (en) 1983-06-20 1987-11-25 Ethicon, Inc. Method and apparatus for applying a fastener to tissue with a pair of hollow needles
FR2598905A1 (en) 1986-05-22 1987-11-27 Chevalier Jean Michel Device for interrupting the flow of a fluid in a duct with a flexible wall, in particular a hollow viscus and clamp assembly comprising this device
US4715520A (en) 1985-10-10 1987-12-29 United States Surgical Corporation Surgical fastener applying apparatus with tissue edge control
US4719917A (en) 1987-02-17 1988-01-19 Minnesota Mining And Manufacturing Company Surgical staple
SU1377053A1 (en) 1985-10-02 1988-02-28 В. Г. Сахаутдинов, Р. А. Талипов, Р. М. Халиков и 3. X. Гарифуллин Surgical suturing apparatus
US4728020A (en) 1985-08-30 1988-03-01 United States Surgical Corporation Articulated surgical fastener applying apparatus
US4728876A (en) 1986-02-19 1988-03-01 Minnesota Mining And Manufacturing Company Orthopedic drive assembly
US4729260A (en) 1985-12-06 1988-03-08 Desoutter Limited Two speed gearbox
US4741336A (en) 1984-07-16 1988-05-03 Ethicon, Inc. Shaped staples and slotted receivers (case VII)
US4752024A (en) 1986-10-17 1988-06-21 Green David T Surgical fastener and surgical stapling apparatus
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
EP0276104A2 (en) 1987-01-21 1988-07-27 American Medical Systems, Inc. Apparatus for removal of objects from body passages
US4767044A (en) 1984-10-19 1988-08-30 United States Surgical Corporation Surgical fastener applying apparatus
US4777780A (en) 1987-04-21 1988-10-18 United States Surgical Corporation Method for forming a sealed sterile package
US4787387A (en) 1984-11-08 1988-11-29 American Cyanamid Company Surgical closure element
US4790225A (en) 1982-11-24 1988-12-13 Panduit Corp. Dispenser of discrete cable ties provided on a continuous ribbon of cable ties
US4805617A (en) 1987-11-05 1989-02-21 Ethicon, Inc. Surgical fastening systems made from polymeric materials
US4805823A (en) 1988-03-18 1989-02-21 Ethicon, Inc. Pocket configuration for internal organ staplers
US4809695A (en) 1981-10-21 1989-03-07 Owen M. Gwathmey Suturing assembly and method
US4817847A (en) 1986-04-21 1989-04-04 Finanzaktiengesellschaft Globe Control Instrument and a procedure for performing an anastomosis
US4819853A (en) 1987-12-31 1989-04-11 United States Surgical Corporation Surgical fastener cartridge
US4821939A (en) 1987-09-02 1989-04-18 United States Surgical Corporation Staple cartridge and an anvilless surgical stapler
US4827911A (en) 1986-04-02 1989-05-09 Cooper Lasersonics, Inc. Method and apparatus for ultrasonic surgical fragmentation and removal of tissue
US4844068A (en) 1987-06-05 1989-07-04 Ethicon, Inc. Bariatric surgical instrument
US4848637A (en) 1987-06-11 1989-07-18 Pruitt J Crayton Staple device for use on the mesenteries of the abdomen
US4869415A (en) 1988-09-26 1989-09-26 Ethicon, Inc. Energy storage means for a surgical stapler
US4880015A (en) 1988-06-03 1989-11-14 Nierman David M Biopsy forceps
US4890613A (en) 1986-09-19 1990-01-02 Ethicon, Inc. Two piece internal organ fastener
US4892244A (en) 1988-11-07 1990-01-09 Ethicon, Inc. Surgical stapler cartridge lockout device
US4915100A (en) 1988-12-19 1990-04-10 United States Surgical Corporation Surgical stapler apparatus with tissue shield
SU1561964A1 (en) 1986-04-24 1990-05-07 Благовещенский государственный медицинский институт Surgical suturing apparatus
US4930503A (en) 1987-06-11 1990-06-05 Pruitt J Crayton Stapling process and device for use on the mesenteries of the abdomen
US4932960A (en) 1989-09-01 1990-06-12 United States Surgical Corporation Absorbable surgical fastener
US4938408A (en) 1988-01-15 1990-07-03 Ethicon, Inc. Surgical stapler safety and sequencing mechanisms
US4941623A (en) 1987-05-12 1990-07-17 United States Surgical Corporation Stapling process and device for use on the mesentery of the abdomen
US4944443A (en) 1988-04-22 1990-07-31 Innovative Surgical Devices, Inc. Surgical suturing instrument and method
US4955959A (en) 1989-05-26 1990-09-11 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US4978049A (en) 1989-05-26 1990-12-18 United States Surgical Corporation Three staple drive member
US4986808A (en) 1988-12-20 1991-01-22 Valleylab, Inc. Magnetostrictive transducer
US4988334A (en) 1986-04-09 1991-01-29 Valleylab, Inc. Ultrasonic surgical system with aspiration tubulation connector
US5002553A (en) 1984-05-14 1991-03-26 Surgical Systems & Instruments, Inc. Atherectomy system with a clutch
US5009661A (en) 1989-04-24 1991-04-23 Michelson Gary K Protective mechanism for surgical rongeurs
US5015227A (en) 1987-09-30 1991-05-14 Valleylab Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US5014899A (en) 1990-03-30 1991-05-14 United States Surgical Corporation Surgical stapling apparatus
US5027834A (en) 1987-06-11 1991-07-02 United States Surgical Corporation Stapling process for use on the mesenteries of the abdomen
US5031814A (en) 1989-05-26 1991-07-16 United States Surgical Corporation Locking mechanism for surgical fastening apparatus
US5040715A (en) 1989-05-26 1991-08-20 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5042707A (en) 1990-10-16 1991-08-27 Taheri Syde A Intravascular stapler, and method of operating same
US5061269A (en) 1989-02-07 1991-10-29 Joseph J. Berke Surgical rongeur power grip structure and method
US5062563A (en) 1989-04-10 1991-11-05 United States Surgical Corporation Fascia stapler
US5065929A (en) 1991-04-01 1991-11-19 Ethicon, Inc. Surgical stapler with locking means
US5071430A (en) 1988-11-11 1991-12-10 United States Surgical Corporation Surgical instrument
US5071052A (en) 1988-09-22 1991-12-10 United States Surgical Corporation Surgical fastening apparatus with activation lockout
US5074454A (en) 1990-06-04 1991-12-24 Peters Ronald L Surgical stapler
US5080556A (en) 1990-09-28 1992-01-14 General Electric Company Thermal seal for a gas turbine spacer disc
US5084057A (en) 1989-07-18 1992-01-28 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
US5083695A (en) 1990-12-18 1992-01-28 Minnesota Mining And Manufacturing Company Stapler and firing device
SU1708312A1 (en) 1989-05-16 1992-01-30 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Surgical apparatus for suturing bone tissue
US5088979A (en) 1990-10-11 1992-02-18 Wilson-Cook Medical Inc. Method for esophageal invagination and devices useful therein
US5088997A (en) 1990-03-15 1992-02-18 Valleylab, Inc. Gas coagulation device
US5094247A (en) 1990-08-31 1992-03-10 Cordis Corporation Biopsy forceps with handle having a flexible coupling
SU1722476A1 (en) 1990-04-02 1992-03-30 Свердловский Филиал Научно-Производственного Объединения "Фтизиопульмонология" Appliance for temporary occlusion of tubular organs
US5100420A (en) 1989-07-18 1992-03-31 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
US5104025A (en) 1990-09-28 1992-04-14 Ethicon, Inc. Intraluminal anastomotic surgical stapler with detached anvil
US5106008A (en) 1989-05-26 1992-04-21 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US5111987A (en) 1989-01-23 1992-05-12 Moeinzadeh Manssour H Semi-disposable surgical stapler
US5116349A (en) 1990-05-23 1992-05-26 United States Surgical Corporation Surgical fastener apparatus
US5129570A (en) 1990-11-30 1992-07-14 Ethicon, Inc. Surgical stapler
SU1752361A1 (en) 1990-07-10 1992-08-07 Производственное Объединение "Челябинский Тракторный Завод Им.В.И.Ленина" Surgical sutural material
US5137198A (en) 1991-05-16 1992-08-11 Ethicon, Inc. Fast closure device for linear surgical stapling instrument
US5139513A (en) 1989-10-17 1992-08-18 Bieffe Medital S.A. Apparatus and method for suturing
US5141144A (en) 1990-12-18 1992-08-25 Minnesota Mining And Manufacturing Company Stapler and firing device
US5156315A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5156614A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5158567A (en) 1987-09-02 1992-10-27 United States Surgical Corporation One-piece surgical staple
USD330699S (en) 1990-10-19 1992-11-03 W. W. Cross, Inc. Insulated staple
US5163598A (en) 1990-07-23 1992-11-17 Rudolph Peters Sternum stapling apparatus
WO1992020295A1 (en) 1991-05-24 1992-11-26 John Koivukangas Surgical operation device
WO1992021300A1 (en) 1991-06-06 1992-12-10 Valleylab, Inc. Electrosurgical and ultrasonic surgical system
US5171247A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier with rotating shaft
US5171249A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier
EP0248844B1 (en) 1985-12-13 1993-01-07 Valleylab, Inc. Angulated ultrasonic surgical handpieces
US5188111A (en) 1991-01-18 1993-02-23 Catheter Research, Inc. Device for seeking an area of interest within a body
US5195968A (en) 1990-02-02 1993-03-23 Ingemar Lundquist Catheter steering mechanism
US5197648A (en) 1988-11-29 1993-03-30 Gingold Bruce S Surgical stapling apparatus
US5200280A (en) 1991-09-05 1993-04-06 Black & Decker Inc. Terminal cover for a battery pack
US5205459A (en) 1991-08-23 1993-04-27 Ethicon, Inc. Surgical anastomosis stapling instrument
US5207697A (en) 1991-06-27 1993-05-04 Stryker Corporation Battery powered surgical handpiece
US5209747A (en) 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
WO1993008755A1 (en) 1991-11-08 1993-05-13 Ep Technologies, Inc. Ablation electrode with insulated temperature sensing elements
US5211649A (en) 1987-02-10 1993-05-18 Vaso Products Australia Pty. Limited Venous cuff applicator, cartridge and cuff
US5217478A (en) 1987-02-18 1993-06-08 Linvatec Corporation Arthroscopic surgical instrument drive system
US5217457A (en) 1990-03-15 1993-06-08 Valleylab Inc. Enhanced electrosurgical apparatus
EP0545029A1 (en) 1991-11-07 1993-06-09 American Cyanamid Company Surgical stapling instrument
US5219111A (en) 1991-03-11 1993-06-15 Ethicon, Inc. Pneumatically actuated linear stapling device
US5221036A (en) 1991-06-11 1993-06-22 Haruo Takase Surgical stapler
US5221281A (en) 1992-06-30 1993-06-22 Valleylab Inc. Electrosurgical tubular trocar
US5222975A (en) 1992-07-13 1993-06-29 Lawrence Crainich Surgical staples
US5223675A (en) 1992-04-02 1993-06-29 Taft Anthony W Cable fastener
US5222976A (en) 1989-05-16 1993-06-29 Inbae Yoon Suture devices particularly useful in endoscopic surgery
US5222963A (en) 1991-01-17 1993-06-29 Ethicon, Inc. Pull-through circular anastomosic intraluminal stapler with absorbable fastener means
WO1993013718A1 (en) 1992-01-21 1993-07-22 Valleylab, Inc. Electrosurgical control for a trocar
WO1993014690A1 (en) 1992-01-24 1993-08-05 Applied Medical Resources, Inc. Surgical manipulator
US5234447A (en) 1990-08-28 1993-08-10 Robert L. Kaster Side-to-end vascular anastomotic staple apparatus
US5236440A (en) 1992-04-14 1993-08-17 American Cyanamid Company Surgical fastener
WO1993015850A1 (en) 1992-02-07 1993-08-19 Valleylab, Inc. Ultrasonic surgical apparatus
WO1993015648A1 (en) 1992-02-07 1993-08-19 Wilk Peter J Endoscope with disposable insertion member
US5239981A (en) 1989-11-16 1993-08-31 Effner Biomet Gmbh Film covering to protect a surgical instrument and an endoscope to be used with the film covering
US5240163A (en) 1991-10-30 1993-08-31 American Cyanamid Company Linear surgical stapling instrument
US5242457A (en) 1992-05-08 1993-09-07 Ethicon, Inc. Surgical instrument and staples for applying purse string sutures
US5244462A (en) 1990-03-15 1993-09-14 Valleylab Inc. Electrosurgical apparatus
US5246156A (en) 1991-09-12 1993-09-21 Ethicon, Inc. Multiple fire endoscopic stapling mechanism
US5246443A (en) 1990-10-30 1993-09-21 Christian Mai Clip and osteosynthesis plate with dynamic compression and self-retention
EP0277959B1 (en) 1986-04-09 1993-10-06 Valleylab, Inc. Irrigation/aspiration manifold and fittings for ultrasonic surgical aspiration system
WO1993019681A1 (en) 1992-03-31 1993-10-14 Valleylab, Inc. Electrosurgical bipolar cutting handpiece
US5253793A (en) 1990-09-17 1993-10-19 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5258009A (en) 1992-06-30 1993-11-02 American Cyanamid Company Malleable, bioabsorbable,plastic staple having a knotted configuration; and method and apparatus for deforming such staple
US5258012A (en) 1992-06-30 1993-11-02 Ethicon, Inc. Surgical fasteners
US5260637A (en) 1991-09-18 1993-11-09 MAGNETI MARELLI S.p.A. Electrical system for a motor vehicle, including at least one supercapacitor
US5259366A (en) 1992-11-03 1993-11-09 Boris Reydel Method of using a catheter-sleeve assembly for an endoscope
EP0233940B1 (en) 1985-08-28 1993-11-18 Valleylab, Inc. Endoscopic ultrasonic aspirator with modified working tip and vibration apparatus thereof
US5263973A (en) 1991-08-30 1993-11-23 Cook Melvin S Surgical stapling method
US5263629A (en) 1992-06-29 1993-11-23 Ethicon, Inc. Method and apparatus for achieving hemostasis along a staple line
US5268622A (en) 1991-06-27 1993-12-07 Stryker Corporation DC powered surgical handpiece having a motor control circuit
US5271543A (en) 1992-02-07 1993-12-21 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
US5275608A (en) 1991-10-16 1994-01-04 Implemed, Inc. Generic endoscopic instrument
US5282806A (en) 1992-08-21 1994-02-01 Habley Medical Technology Corporation Endoscopic surgical instrument having a removable, rotatable, end effector assembly
US5282829A (en) 1991-08-15 1994-02-01 United States Surgical Corporation Hollow body implants
RU2008830C1 (en) 1990-07-13 1994-03-15 Константин Алексеевич Додонов Electrosurgical apparatus
US5297714A (en) 1991-04-17 1994-03-29 Ethicon, Inc. Surgical staple with modified "B" shaped configuration
US5304204A (en) 1993-02-09 1994-04-19 Ethicon, Inc. Receiverless surgical fasteners
EP0593920A1 (en) 1992-09-23 1994-04-27 United States Surgical Corporation Apparatus for applying surgical fasteners
EP0594148A1 (en) 1992-10-21 1994-04-27 United States Surgical Corporation Bioabsorbable foam pledgets
US5307976A (en) 1991-10-18 1994-05-03 Ethicon, Inc. Linear stapling mechanism with cutting means
US5309927A (en) 1992-10-22 1994-05-10 Ethicon, Inc. Circular stapler tissue retention spring method
GB2272159A (en) 1992-11-10 1994-05-11 Andreas G Constantinides Surgical/diagnostic aid
US5312329A (en) 1993-04-07 1994-05-17 Valleylab Inc. Piezo ultrasonic and electrosurgical handpiece
US5312023A (en) 1991-10-18 1994-05-17 United States Surgical Corporation Self contained gas powered surgical apparatus
US5314424A (en) 1992-04-06 1994-05-24 United States Surgical Corporation Surgical instrument locking mechanism
WO1994011057A1 (en) 1992-11-16 1994-05-26 Boaz Avitall Catheter deflection control
US5318221A (en) 1989-05-26 1994-06-07 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
EP0600182A2 (en) 1992-10-02 1994-06-08 United States Surgical Corporation Apparatus for applying two-part surgical fasteners in laparoscopic or endoscopic procedures
WO1994012108A1 (en) 1992-11-30 1994-06-09 Valleylab, Inc. An ultrasonic surgical handpiece and an energy initiator to maintain the vibration and linear dynamics
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
US5332142A (en) 1991-10-18 1994-07-26 Ethicon, Inc. Linear stapling mechanism with cutting means
US5333422A (en) 1992-12-02 1994-08-02 The United States Of America As Represented By The United States Department Of Energy Lightweight extendable and retractable pole
US5334183A (en) 1985-08-28 1994-08-02 Valleylab, Inc. Endoscopic electrosurgical apparatus
US5336232A (en) 1991-03-14 1994-08-09 United States Surgical Corporation Approximating apparatus for surgical jaw structure and method of using the same
US5339799A (en) 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
US5341724A (en) 1993-06-28 1994-08-30 Bronislav Vatel Pneumatic telescoping cylinder and method
US5341810A (en) 1991-10-29 1994-08-30 Sulzer Medizinaltechnik Ag Sterile puncturing device for blood vessels with a non-sterile ultrasound probe, and apparatus for preparing the device
US5342396A (en) 1993-03-02 1994-08-30 Cook Melvin S Staples
US5342395A (en) 1990-07-06 1994-08-30 American Cyanamid Co. Absorbable surgical repair devices
WO1994018893A1 (en) 1993-02-22 1994-09-01 Valleylab, Inc. A laparoscopic dissection tension retractor device and method
US5344060A (en) 1990-03-05 1994-09-06 United States Surgical Corporation Surgical fastener apparatus
DE9412228U1 (en) 1994-07-28 1994-09-22 Loctite Europa Eeig Peristaltic pump for precise dosing of small amounts of liquid
US5350400A (en) 1991-10-30 1994-09-27 American Cyanamid Company Malleable, bioabsorbable, plastic staple; and method and apparatus for deforming such staple
US5352235A (en) 1992-03-16 1994-10-04 Tibor Koros Laparoscopic grasper and cutter
US5354303A (en) 1991-01-09 1994-10-11 Endomedix Corporation Devices for enclosing, manipulating, debulking and removing tissue through minimal incisions
US5356006A (en) 1992-12-16 1994-10-18 Ethicon, Inc. Sterile package for surgical devices
US5359231A (en) 1991-06-21 1994-10-25 Lutron Electronics Co., Inc. Wallbox-mountable switch and dimmer
US5358510A (en) 1993-01-26 1994-10-25 Ethicon, Inc. Two part surgical fastener
WO1994023659A1 (en) 1993-04-19 1994-10-27 Valleylab, Inc. Electrosurgical processor and method of use
US5360428A (en) 1992-07-22 1994-11-01 Hutchinson Jr William B Laparoscopic instrument with electrical cutting wires
EP0376562B1 (en) 1988-12-20 1994-11-02 Valleylab, Inc. Improved resonator for surgical handpiece
EP0310431B1 (en) 1987-09-30 1994-11-02 Valleylab, Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US5364003A (en) 1993-05-05 1994-11-15 Ethicon Endo-Surgery Staple cartridge for a surgical stapler
US5366134A (en) 1991-10-18 1994-11-22 United States Surgical Corporation Surgical fastening apparatus
US5366479A (en) 1991-10-18 1994-11-22 United States Surgical Corporation Surgical staple for attaching an object to body tissue
USD352780S (en) 1993-04-19 1994-11-22 Valleylab Inc. Combined suction, irrigation and electrosurgical handle
US5368015A (en) 1991-03-18 1994-11-29 Wilk; Peter J. Automated surgical system and apparatus
US5372596A (en) 1993-07-27 1994-12-13 Valleylab Inc. Apparatus for leakage control and method for its use
US5372602A (en) 1992-11-30 1994-12-13 Device For Vascular Intervention, Inc. Method of removing plaque using catheter cutter with torque control
US5374277A (en) 1992-10-09 1994-12-20 Ethicon, Inc. Surgical instrument
EP0630612A1 (en) 1993-05-24 1994-12-28 Ethicon, Inc. Endoscopic surgical instrument with electromagnetic sensor
US5381782A (en) 1992-01-09 1995-01-17 Spectrum Medsystems Corporation Bi-directional and multi-directional miniscopes
US5382247A (en) 1994-01-21 1995-01-17 Valleylab Inc. Technique for electrosurgical tips and method of manufacture and use
EP0634144A1 (en) 1993-07-15 1995-01-18 Ethicon, Inc. An Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
US5383881A (en) 1989-07-18 1995-01-24 United States Surgical Corporation Safety device for use with endoscopic instrumentation
US5383880A (en) 1992-01-17 1995-01-24 Ethicon, Inc. Endoscopic surgical system with sensing means
US5383888A (en) 1992-02-12 1995-01-24 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5383895A (en) 1993-02-10 1995-01-24 Unisurge, Inc. Endoscopic surgical grasper and method
WO1995002369A1 (en) 1993-07-12 1995-01-26 Gyrus Medical Limited An electrosurgical generator
US5389098A (en) 1992-05-19 1995-02-14 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5391180A (en) 1991-08-05 1995-02-21 United States Surgical Corporation Articulating endoscopic surgical apparatus
EP0639349A2 (en) 1993-08-19 1995-02-22 United States Surgical Corporation Surgical apparatus with indicator
US5392979A (en) 1987-05-26 1995-02-28 United States Surgical Corporation Surgical stapler apparatus
US5395312A (en) 1991-10-18 1995-03-07 Desai; Ashvin Surgical tool
US5395030A (en) 1992-06-04 1995-03-07 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
WO1995006817A1 (en) 1993-08-31 1995-03-09 Valleylab, Inc. Pump head cartridge
US5397324A (en) 1993-03-10 1995-03-14 Carroll; Brendan J. Surgical stapler instrument and method for vascular hemostasis
US5397046A (en) 1991-10-18 1995-03-14 United States Surgical Corporation Lockout mechanism for surgical apparatus
US5403312A (en) 1993-07-22 1995-04-04 Ethicon, Inc. Electrosurgical hemostatic device
EP0646356A2 (en) 1993-09-30 1995-04-05 Ethicon, Inc. Articulable socket joint assembly for an endoscopic instrument and surgical fastener track therefor
EP0646357A1 (en) 1993-09-30 1995-04-05 Ethicon, Inc. Surgical instrument having improved manipulating means
US5405072A (en) 1991-10-17 1995-04-11 United States Surgical Corporation Anvil for surgical staplers
WO1995009577A1 (en) 1993-10-07 1995-04-13 Valleylab, Inc. Automatic control for electrosurgical generator energy
WO1995009576A1 (en) 1993-10-07 1995-04-13 Valleylab, Inc. Automatic control for electrosurgical generator
US5407293A (en) 1993-04-29 1995-04-18 Crainich; Lawrence Coupling apparatus for medical instrument
US5409498A (en) 1992-11-05 1995-04-25 Ethicon, Inc. Rotatable articulating endoscopic fastening instrument
US5411508A (en) 1991-10-29 1995-05-02 The Trustees Of Columbia University In The City Of New York Gastrointestinal approximating and tissue attaching device
US5413267A (en) 1991-05-14 1995-05-09 United States Surgical Corporation Surgical stapler with spent cartridge sensing and lockout means
US5413268A (en) 1989-05-26 1995-05-09 United States Surgical Corporation Apparatus and method for placing stables in laparoscopic or endoscopic procedures
US5413272A (en) 1991-05-07 1995-05-09 United States Surgical Corporation Surgical fastening device
US5415334A (en) 1993-05-05 1995-05-16 Ethicon Endo-Surgery Surgical stapler and staple cartridge
US5415335A (en) 1994-04-07 1995-05-16 Ethicon Endo-Surgery Surgical stapler cartridge containing lockout mechanism
GB2284242A (en) 1993-11-30 1995-05-31 Wolf Gmbh Richard Remote movement of manipulator end effector
WO1995014436A1 (en) 1993-11-24 1995-06-01 Valleylab, Inc. A retrograde high frequency tissue splitter
US5422567A (en) 1993-12-27 1995-06-06 Valleylab Inc. High frequency power measurement
WO1995017855A1 (en) 1993-12-30 1995-07-06 Valleylab, Inc. Bipolar ultrasonic surgery
US5431668A (en) 1993-04-29 1995-07-11 Ethicon, Inc. Ligating clip applier
US5431322A (en) 1991-10-18 1995-07-11 United States Surgical Corporation Self contained gas powered surgical apparatus
WO1995018572A1 (en) 1994-01-04 1995-07-13 Alpha Surgical Technologies, Inc. Stapling device
WO1995020360A1 (en) 1994-01-31 1995-08-03 Valleylab, Inc. Telescoping bipolar electrode for non-invasive medical procedures
US5439479A (en) 1990-12-20 1995-08-08 United States Surigcal Corporation Surgical clip
US5439155A (en) 1993-10-07 1995-08-08 United States Surgical Corporation Cartridge for surgical fastener applying apparatus
US5441193A (en) 1993-09-23 1995-08-15 United States Surgical Corporation Surgical fastener applying apparatus with resilient film
US5441494A (en) 1993-07-29 1995-08-15 Ethicon, Inc. Manipulable hand for laparoscopy
US5445644A (en) 1992-04-16 1995-08-29 Ethicon, Inc. Pyloroplasty/pylorectomy shield
US5445304A (en) 1990-12-18 1995-08-29 United States Surgical Corporation Safety device for a surgical stapler cartridge
EP0669104A1 (en) 1994-02-25 1995-08-30 Ethicon Endo-Surgery Anvil pockets for surgical stapler
US5447513A (en) 1992-05-06 1995-09-05 Ethicon, Inc. Endoscopic ligation and division instrument
WO1995023557A1 (en) 1994-03-01 1995-09-08 United States Surgical Corporation Surgical stapler with anvil sensor and lockout
US5449365A (en) 1992-09-02 1995-09-12 United States Surgical Corporation Surgical clamp apparatus
WO1995024865A1 (en) 1994-03-17 1995-09-21 Valleylab Inc. Methods of making and using ultrasonic handpiece
US5452836A (en) 1994-02-07 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved jaw closure and staple firing actuator mechanism
US5452837A (en) 1994-01-21 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapler with tissue gripping ridge
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
WO1995026562A1 (en) 1994-03-28 1995-10-05 Valleylab Inc. Tool and switch and method of assembling
US5456401A (en) 1991-10-18 1995-10-10 United States Surgical Corporation Surgical apparatus having articulation mechanism
US5458579A (en) 1991-12-31 1995-10-17 Technalytics, Inc. Mechanical trocar insertion apparatus
WO1995025471A3 (en) 1994-03-23 1995-10-19 Valleylab Inc Monopolar/bipolar electrosurgical handpiece for minimally invasive surgery
US5462215A (en) 1991-10-18 1995-10-31 United States Surgical Corporation Locking device for an apparatus for applying surgical fasteners
EP0679367A2 (en) 1994-04-28 1995-11-02 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5464300A (en) 1993-04-29 1995-11-07 Crainich; Lawrence Medical instrument and coupling apparatus for same
WO1995029639A1 (en) 1994-05-02 1995-11-09 United States Surgical Corporation Laparoscopic stapler with overload sensor and interlock
US5465894A (en) 1993-12-06 1995-11-14 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5465895A (en) 1994-02-03 1995-11-14 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5466020A (en) 1994-12-30 1995-11-14 Valleylab Inc. Bayonet connector for surgical handpiece
US5467911A (en) 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
US5470006A (en) 1990-12-06 1995-11-28 United States Surgical Corporation Surgical fastening apparatus with locking mechanism
US5470009A (en) 1990-12-06 1995-11-28 United States Surgical Corporation Surgical fastening apparatus with locking mechanism
US5473204A (en) 1994-06-16 1995-12-05 Temple; Thomas D. Time delay switch
EP0685204A1 (en) 1994-05-05 1995-12-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5476479A (en) 1991-09-26 1995-12-19 United States Surgical Corporation Handle for endoscopic surgical instruments and jaw structure
US5478003A (en) 1991-10-18 1995-12-26 United States Surgical Corporation Surgical apparatus
US5478354A (en) 1993-07-14 1995-12-26 United States Surgical Corporation Wound closing apparatus and method
EP0392547B1 (en) 1989-04-14 1995-12-27 JOHNSON & JOHNSON PROFESSIONAL, INC. Multi-position latching mechanism for forceps
US5480409A (en) 1994-05-10 1996-01-02 Riza; Erol D. Laparoscopic surgical instrument
US5480089A (en) 1994-08-19 1996-01-02 United States Surgical Corporation Surgical stapler apparatus with improved staple pockets
US5484451A (en) 1992-05-08 1996-01-16 Ethicon, Inc. Endoscopic surgical instrument and staples for applying purse string sutures
US5484095A (en) 1992-03-31 1996-01-16 United States Surgical Corporation Apparatus for endoscopically applying staples individually to body tissue
EP0364216B1 (en) 1988-10-13 1996-01-17 Gyrus Medical Limited Screening and monitoring instrument
US5487500A (en) 1994-02-03 1996-01-30 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5487499A (en) 1993-10-08 1996-01-30 United States Surgical Corporation Surgical apparatus for applying surgical fasteners including a counter
US5489256A (en) 1992-09-01 1996-02-06 Adair; Edwin L. Sterilizable endoscope with separable disposable tube assembly
US5489058A (en) 1994-05-02 1996-02-06 Minnesota Mining And Manufacturing Company Surgical stapler with mechanisms for reducing the firing force
WO1996004858A1 (en) 1994-08-12 1996-02-22 Valleylab, Inc. Laser-assisted electrosurgery system
US5496317A (en) 1993-05-04 1996-03-05 Gyrus Medical Limited Laparoscopic surgical instrument
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5497933A (en) 1991-10-18 1996-03-12 United States Surgical Corporation Apparatus and method for applying surgical staples to attach an object to body tissue
EP0702937A1 (en) 1994-09-23 1996-03-27 United States Surgical Corporation Endoscopic surgical apparatus with rotation lock
US5503638A (en) 1994-02-10 1996-04-02 Bio-Vascular, Inc. Soft tissue stapling buttress
US5503635A (en) 1993-11-12 1996-04-02 United States Surgical Corporation Apparatus and method for performing compressional anastomoses
US5505363A (en) 1989-05-26 1996-04-09 United States Surgical Corporation Surgical staples with plated anvils
EP0705571A1 (en) 1994-10-07 1996-04-10 United States Surgical Corporation Self-contained powered surgical apparatus
US5507426A (en) 1994-08-05 1996-04-16 United States Surgical Corporation Apparatus for applying surgical fasteners
US5509596A (en) 1991-10-18 1996-04-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US5511564A (en) 1992-07-29 1996-04-30 Valleylab Inc. Laparoscopic stretching instrument and associated method
US5514157A (en) 1992-02-12 1996-05-07 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5514129A (en) 1993-12-03 1996-05-07 Valleylab Inc. Automatic bipolar control for an electrosurgical generator
US5520700A (en) 1992-11-13 1996-05-28 Technion Research & Development Foundation, Ltd. Stapler device particularly useful in medical suturing
US5522817A (en) 1989-03-31 1996-06-04 United States Surgical Corporation Absorbable surgical fastener with bone penetrating elements
US5527320A (en) 1994-02-10 1996-06-18 Pilling Weck Inc. Surgical clip applying instrument
WO1996019151A1 (en) 1994-12-21 1996-06-27 Valleylab, Inc. Rate control for a smoke/liquid suction accessory
WO1996019152A1 (en) 1994-12-22 1996-06-27 Valleylab, Inc. Adaptive monitoring for a return electrode consisting of two parts (rem)
US5531744A (en) 1991-11-01 1996-07-02 Medical Scientific, Inc. Alternative current pathways for bipolar surgical cutting tool
US5533521A (en) 1994-07-15 1996-07-09 United States Surgical Corporation Interchangeable tissue measuring device
US5533661A (en) 1991-08-23 1996-07-09 Ethicon, Inc. Sealing means for endoscopic surgical anastomosis stapling instrument
US5533581A (en) 1991-05-18 1996-07-09 Robert Bosch Gmbh Electric hand tool, in particular drill
WO1996020652A1 (en) 1994-12-30 1996-07-11 Valleylab, Inc. Partially coated electrodes, manufacture and use
USD372086S (en) 1995-02-03 1996-07-23 Valleylab Inc. Aspirator attachment for a surgical device
WO1996022055A1 (en) 1995-01-19 1996-07-25 Inbae Yoon Surgical stapling system and method of applying staples from multiple staple cartridges
US5540375A (en) 1993-04-20 1996-07-30 United States Surgical Corporation Endoscopic stapler
US5542594A (en) 1993-10-06 1996-08-06 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US5543119A (en) 1993-07-15 1996-08-06 Siemens Aktiengesellschaft Cassette for treating medical instruments
WO1996023448A1 (en) 1995-02-03 1996-08-08 Valleylab, Inc. Electrosurgical aspirator combined with a pencil
WO1996024301A1 (en) 1995-02-10 1996-08-15 Valleylab, Inc. Plasma enhanced bipolar electrosurgical system
US5547117A (en) 1994-03-30 1996-08-20 Ethicon Endo-Surgery Handle actuator for surgical instrument having clamp lock and emergency release
US5549621A (en) 1993-05-14 1996-08-27 Byron C. Sutherland Apparatus and method for performing vertical banded gastroplasty
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US5553675A (en) 1994-06-10 1996-09-10 Minnesota Mining And Manufacturing Company Orthopedic surgical device
US5553765A (en) 1995-04-28 1996-09-10 Ethicon Endo-Surgery, Inc. Surgical stapler with improved operating lever mounting arrangement
WO1996027337A1 (en) 1995-03-07 1996-09-12 Valleylab Inc. Surgical gas plasma ignition apparatus and method
US5556416A (en) 1993-10-12 1996-09-17 Valleylab, Inc. Endoscopic instrument
DE19509116A1 (en) 1995-03-16 1996-09-19 Deutsche Forsch Luft Raumfahrt Flexible structure comprising material block subdivided into sections by notches
US5558671A (en) 1993-07-22 1996-09-24 Yates; David C. Impedance feedback monitor for electrosurgical instrument
US5558665A (en) 1994-06-24 1996-09-24 Archimedes Surgical, Inc. Surgical instrument and method for intraluminal retraction of an anatomic structure
US5560532A (en) 1993-10-08 1996-10-01 United States Surgical Corporation Apparatus and method for applying surgical staples to body tissue
US5560530A (en) 1994-04-07 1996-10-01 United States Surgical Corporation Graduated anvil for surgical stapling instruments
US5562702A (en) 1994-02-18 1996-10-08 Ethicon Endo-Surgery, Inc. Cable-actuated jaw assembly for surgical instruments
US5562682A (en) 1993-10-08 1996-10-08 Richard-Allan Medical Industries, Inc. Surgical Instrument with adjustable arms
WO1996031155A1 (en) 1995-04-06 1996-10-10 Guthrie Robert B Methods and apparatus for inhibiting contamination of reusable pulse oximetry sensors
US5564615A (en) 1992-10-09 1996-10-15 Ethicon, Inc. Surgical instrument
US5569284A (en) 1994-09-23 1996-10-29 United States Surgical Corporation Morcellator
US5569161A (en) 1992-10-08 1996-10-29 Wendell V. Ebling Endoscope with sterile sleeve
US5571100A (en) 1993-11-01 1996-11-05 Gyrus Medical Limited Electrosurgical apparatus
US5571090A (en) 1994-10-07 1996-11-05 United States Surgical Corporation Vascular suturing apparatus
US5571116A (en) 1994-10-02 1996-11-05 United States Surgical Corporation Non-invasive treatment of gastroesophageal reflux disease
US5574431A (en) 1995-08-29 1996-11-12 Checkpoint Systems, Inc. Deactivateable security tag
WO1996035464A1 (en) 1995-05-12 1996-11-14 Perkins Rodney C Translumenal circumferential injector
US5575789A (en) 1994-10-27 1996-11-19 Valleylab Inc. Energizable surgical tool safety device and method
US5575799A (en) 1995-03-30 1996-11-19 United States Surgical Corporation Articulating surgical apparatus
US5579978A (en) 1991-10-18 1996-12-03 United States Surgical Corporation Apparatus for applying surgical fasteners
US5582617A (en) 1993-07-21 1996-12-10 Charles H. Klieman Surgical instrument for endoscopic and general surgery
WO1996039088A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Digital waveform generation for electrosurgical generators
WO1996039086A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Power control for an electrosurgical generator
WO1996039085A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. A control system for neurosurgical electrosurgical unit
WO1996039087A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Exit spark control for an electrosurgical generator
WO1996039089A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Control apparatus for electrosurgical generator power output
US5588579A (en) 1994-08-25 1996-12-31 United States Surgical Corporation Anvil for circular stapler
US5591170A (en) 1994-10-14 1997-01-07 Genesis Orthopedics Intramedullary bone cutting saw
US5591187A (en) 1995-07-14 1997-01-07 Dekel; Moshe Laparoscopic tissue retrieval device and method
WO1997000647A1 (en) 1995-06-23 1997-01-09 Gyrus Medical Limited An electrosurgical instrument
WO1997000646A1 (en) 1995-06-23 1997-01-09 Gyrus Medical Limited An electrosurgical instrument
US5597107A (en) 1994-02-03 1997-01-28 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5599350A (en) 1995-04-03 1997-02-04 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with coagulation feedback
US5599151A (en) 1993-03-04 1997-02-04 Daum Gmbh Surgical manipulator
WO1997006582A1 (en) 1995-08-10 1997-02-20 Valleylab Inc. Method and assembly of member and terminal
US5605272A (en) 1996-03-12 1997-02-25 Ethicon Endo-Surgery, Inc. Trigger mechanism for surgical instruments
US5607095A (en) 1992-10-09 1997-03-04 Ethicon, Inc. Endoscopic surgical instrument with pivotable and rotatable staple cartridge
WO1997010763A1 (en) 1995-09-19 1997-03-27 Valleylab Inc. Energy delivery system for vessel sealing
WO1997010764A1 (en) 1995-09-19 1997-03-27 Valleylab Inc. Vascular tissue sealing pressure control and method
WO1997011648A2 (en) 1995-09-26 1997-04-03 Valleylab Inc. Electrosurgical generator power control circuit and method
WO1997011649A1 (en) 1995-09-27 1997-04-03 Valleylab Inc. Coated electrosurgical electrode and method of manufacture
US5618303A (en) 1992-07-02 1997-04-08 Marlow Surgical Technologies, Inc. Endoscopic instrument system and method
US5618307A (en) 1995-04-03 1997-04-08 Heartport, Inc. Clamp assembly and method of use
US5620452A (en) 1994-12-22 1997-04-15 Yoon; Inbae Surgical clip with ductile tissue penetrating members
US5620289A (en) 1996-02-09 1997-04-15 Curry; Rinda M. Colored staples
US5624452A (en) 1995-04-07 1997-04-29 Ethicon Endo-Surgery, Inc. Hemostatic surgical cutting or stapling instrument
WO1997015237A1 (en) 1995-10-24 1997-05-01 Gyrus Medical Limited Electrosurgical hand-held battery-operated instrument
EP0770355A1 (en) 1995-10-27 1997-05-02 United States Surgical Corporation Surgical stapler having interchangeable loading units
US5626587A (en) 1992-10-09 1997-05-06 Ethicon Endo-Surgery, Inc. Method for operating a surgical instrument
US5628743A (en) 1994-12-21 1997-05-13 Valleylab Inc. Dual mode ultrasonic surgical apparatus
US5628446A (en) 1994-05-05 1997-05-13 United States Surgical Corporation Self-contained powered surgical apparatus
US5630782A (en) 1992-09-01 1997-05-20 Adair; Edwin L. Sterilizable endoscope with separable auxiliary assembly
US5630540A (en) 1995-05-24 1997-05-20 United States Surgical Corporation Surgical staple and staple drive member
US5632432A (en) 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
EP0503662B1 (en) 1991-03-14 1997-06-04 United States Surgical Corporation Approximating apparatus for surgical jaw structure
US5636779A (en) 1994-12-13 1997-06-10 United States Surgical Corporation Apparatus for applying surgical fasteners
US5636780A (en) 1991-10-18 1997-06-10 United States Surgical Corporation Self contained gas powered surgical apparatus
US5643291A (en) 1994-09-29 1997-07-01 United States Surgical Corporation Surgical clip applicator
WO1997024073A1 (en) 1995-12-29 1997-07-10 Gyrus Medical Limited An electrosurgical instrument and an electrosurgical electrode assembly
US5647869A (en) 1994-06-29 1997-07-15 Gyrus Medical Limited Electrosurgical apparatus
WO1997024993A1 (en) 1996-01-09 1997-07-17 Gyrus Medical Limited An electrosurgical instrument
US5649937A (en) 1992-06-04 1997-07-22 Olympus Optical Co., Ltd. Tissue-fixing surgical device, and method of fixing tissues
US5651491A (en) 1995-10-27 1997-07-29 United States Surgical Corporation Surgical stapler having interchangeable loading units
US5653677A (en) 1994-04-12 1997-08-05 Fuji Photo Optical Co. Ltd Electronic endoscope apparatus with imaging unit separable therefrom
US5653721A (en) 1995-10-19 1997-08-05 Ethicon Endo-Surgery, Inc. Override mechanism for an actuator on a surgical instrument
US5653373A (en) 1990-09-17 1997-08-05 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5655698A (en) 1994-07-13 1997-08-12 Yoon; Inbae Surgical stapler with curved jaws
US5658281A (en) 1995-12-04 1997-08-19 Valleylab Inc Bipolar electrosurgical scissors and method of manufacture
WO1997030644A1 (en) 1996-02-23 1997-08-28 Somnus Medical Technologies, Inc. Apparatus for cosmetically remodeling a body structure
US5662662A (en) 1992-10-09 1997-09-02 Ethicon Endo-Surgery, Inc. Surgical instrument and method
US5667526A (en) 1995-09-07 1997-09-16 Levin; John M. Tissue retaining clamp
US5669918A (en) 1995-03-16 1997-09-23 Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. Surgical instrument for preparing an anastomosis in minimally invasive surgery
WO1997034533A1 (en) 1996-03-21 1997-09-25 S.A. Development Of Advanced Medical Products Ltd. Surgical stapler and method of surgical fastening
US5673842A (en) 1996-03-05 1997-10-07 Ethicon Endo-Surgery Surgical stapler with locking mechanism
US5678748A (en) 1995-05-24 1997-10-21 Vir Engineering Surgical stapler with improved safety mechanism
US5680981A (en) 1994-05-05 1997-10-28 United States Surgical Corporation Self-contained powered surgical apparatus
WO1997039688A2 (en) 1996-04-22 1997-10-30 Vnus Medical Technologies, Inc. Method and apparatus for delivery of an appliance in a vessel
US5685474A (en) 1994-10-04 1997-11-11 United States Surgical Corporation Tactile indicator for surgical instrument
US5688270A (en) 1993-07-22 1997-11-18 Ethicon Endo-Surgery,Inc. Electrosurgical hemostatic device with recessed and/or offset electrodes
US5693051A (en) 1993-07-22 1997-12-02 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device with adaptive electrodes
US5695524A (en) 1994-04-05 1997-12-09 Tracor Aerospace, Inc. Constant width, adjustable grip, staple apparatus and method
US5695504A (en) 1995-02-24 1997-12-09 Heartport, Inc. Devices and methods for performing a vascular anastomosis
US5697543A (en) 1996-03-12 1997-12-16 Ethicon Endo-Surgery, Inc. Linear stapler with improved firing stroke
US5700270A (en) 1995-10-20 1997-12-23 United States Surgical Corporation Surgical clip applier
US5702409A (en) 1995-07-21 1997-12-30 W. L. Gore & Associates, Inc. Device and method for reinforcing surgical staples
US5702408A (en) 1996-07-17 1997-12-30 Ethicon Endo-Surgery, Inc. Articulating surgical instrument
US5704087A (en) 1995-09-19 1998-01-06 Strub; Richard Dental care apparatus and technique
US5704534A (en) 1994-12-19 1998-01-06 Ethicon Endo-Surgery, Inc. Articulation assembly for surgical instruments
US5706998A (en) 1995-07-17 1998-01-13 United States Surgical Corporation Surgical stapler with alignment pin locking mechanism
US5707392A (en) 1995-09-29 1998-01-13 Symbiosis Corporation Hermaphroditic stamped forceps jaw for disposable endoscopic biopsy forceps and method of making the same
EP0592244B1 (en) 1992-10-09 1998-01-14 Ethicon, Inc. Endoscopic surgical stapling instrument with pivotable and rotatable staple cartridge
US5709680A (en) 1993-07-22 1998-01-20 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US5711472A (en) 1991-10-18 1998-01-27 United States Surgical Corporation Self contained gas powered surgical apparatus
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5713896A (en) 1991-11-01 1998-02-03 Medical Scientific, Inc. Impedance feedback electrosurgical system
US5713128A (en) 1996-02-16 1998-02-03 Valleylab Inc Electrosurgical pad apparatus and method of manufacture
US5715987A (en) 1994-04-05 1998-02-10 Tracor Incorporated Constant width, adjustable grip, staple apparatus and method
US5715988A (en) 1995-08-14 1998-02-10 United States Surgical Corporation Surgical stapler with lockout mechanism
US5718359A (en) 1995-08-14 1998-02-17 United States Of America Surgical Corporation Surgical stapler with lockout mechanism
US5718548A (en) 1992-10-20 1998-02-17 Clipmaster Corporation Pty Ltd Staple assembly
US5718360A (en) 1992-09-08 1998-02-17 United States Surgical Corporation Surgical apparatus and detachable anvil rod therefor
US5725554A (en) 1993-10-08 1998-03-10 Richard-Allan Medical Industries, Inc. Surgical staple and stapler
US5725536A (en) 1996-02-20 1998-03-10 Richard-Allen Medical Industries, Inc. Articulated surgical instrument with improved articulation control mechanism
US5728121A (en) 1996-04-17 1998-03-17 Teleflex Medical, Inc. Surgical grasper devices
US5730758A (en) 1996-09-12 1998-03-24 Allgeyer; Dean O. Staple and staple applicator for use in skin fixation of catheters
US5732872A (en) 1994-06-17 1998-03-31 Heartport, Inc. Surgical stapling instrument
USD393067S (en) 1996-08-27 1998-03-31 Valleylab Inc. Electrosurgical pencil
US5735445A (en) 1995-03-07 1998-04-07 United States Surgical Corporation Surgical stapler
US5735848A (en) 1993-07-22 1998-04-07 Ethicon, Inc. Electrosurgical stapling device
US5735874A (en) 1996-06-21 1998-04-07 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5738648A (en) 1996-01-23 1998-04-14 Valleylab Inc Method and apparatus for a valve and irrigator
US5743456A (en) 1993-12-16 1998-04-28 Stryker Corporation Hand actuable surgical handpiece
WO1998017180A1 (en) 1996-10-21 1998-04-30 Bio-Vascular, Inc. Apparatus and method for producing a reinforced surgical fastener suture line
US5747953A (en) 1996-03-29 1998-05-05 Stryker Corporation Cordless, battery operated surical tool
US5749889A (en) 1996-02-13 1998-05-12 Imagyn Medical, Inc. Method and apparatus for performing biopsy
US5749893A (en) 1993-04-30 1998-05-12 United States Surgical Corporation Surgical instrument having an articulated jaw structure and a detachable knife
US5752644A (en) 1995-07-11 1998-05-19 United States Surgical Corporation Disposable loading unit for surgical stapler
US5755717A (en) 1996-01-16 1998-05-26 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with improved coagulation feedback
US5762255A (en) 1996-02-20 1998-06-09 Richard-Allan Medical Industries, Inc. Surgical instrument with improvement safety lockout mechanisms
US5762256A (en) 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US5766188A (en) 1995-05-08 1998-06-16 Kabushikikaisha Igaki Iryo Sekkei Medical suturing material
US5769892A (en) 1996-10-22 1998-06-23 Mitroflow International Inc. Surgical stapler sleeve for reinforcing staple lines
US5772379A (en) 1996-05-24 1998-06-30 Evensen; Kenneth Self-filling staple fastener
US5772578A (en) 1995-09-14 1998-06-30 Richard Wolf Gmbh Endoscopic instrument
WO1998027880A1 (en) 1996-12-20 1998-07-02 Gyrus Medical Limited Electrosurgical generator and system for underwater operation
US5779131A (en) 1995-10-19 1998-07-14 Ethicon Endo-Surgery, Inc. Endoscopic surgical stapler with compact profile
US5779130A (en) 1994-08-05 1998-07-14 United States Surgical Corporation Self-contained powered surgical apparatus
WO1998030153A1 (en) 1997-01-09 1998-07-16 Coalescent Surgical, Inc. Pinned retainer surgical fasteners, instruments and methods for minimally invasive vascular and endoscopic surgery
US5782396A (en) 1995-08-28 1998-07-21 United States Surgical Corporation Surgical stapler
US5782749A (en) 1994-05-10 1998-07-21 Riza; Erol D. Laparoscopic surgical instrument with adjustable grip
US5784934A (en) 1997-01-30 1998-07-28 Shinano Pneumatic Industries, Inc. Ratchet wrench with pivotable head
US5785232A (en) 1996-04-17 1998-07-28 Vir Engineering Surgical stapler
US5792165A (en) 1993-07-21 1998-08-11 Charles H. Klieman Endoscopic instrument with detachable end effector
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5796188A (en) 1995-10-05 1998-08-18 Xomed Surgical Products, Inc. Battery-powered medical instrument with power booster
US5797537A (en) 1996-02-20 1998-08-25 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved firing mechanism
US5797538A (en) 1994-10-05 1998-08-25 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5797959A (en) 1995-09-21 1998-08-25 United States Surgical Corporation Surgical apparatus with articulating jaw structure
US5799857A (en) 1993-10-07 1998-09-01 United States Surgical Corporation Circular anastomosis device
EP0598618B1 (en) 1992-11-19 1998-09-02 Ethicon, Inc. Intraluminal manipulator
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
US5807378A (en) 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US5807393A (en) 1992-12-22 1998-09-15 Ethicon Endo-Surgery, Inc. Surgical tissue treating device with locking mechanism
US5809441A (en) 1995-10-19 1998-09-15 Case Corporation Apparatus and method of neutral start control of a power transmission
US5810811A (en) 1993-07-22 1998-09-22 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US5810855A (en) 1995-07-21 1998-09-22 Gore Enterprise Holdings, Inc. Endoscopic device and method for reinforcing surgical staples
US5814057A (en) 1994-06-03 1998-09-29 Gunze Limited Supporting element for staple region
US5817084A (en) 1993-05-14 1998-10-06 Sri International Remote center positioning device with flexible drive
US5817093A (en) 1993-07-22 1998-10-06 Ethicon Endo-Surgery, Inc. Impedance feedback monitor with query electrode for electrosurgical instrument
US5817119A (en) 1993-07-21 1998-10-06 Charles H. Klieman Surgical instrument for endoscopic and general surgery
US5817091A (en) 1997-05-20 1998-10-06 Medical Scientific, Inc. Electrosurgical device having a visible indicator
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
US5823066A (en) 1996-05-13 1998-10-20 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
WO1998047436A1 (en) 1997-04-24 1998-10-29 Gyrus Medical Limited An electrosurgical instrument
EP0605351B1 (en) 1992-12-30 1998-11-04 François Régis Duthoit Instrument for the removal of a length of vein
US5833696A (en) 1996-10-03 1998-11-10 United States Surgical Corporation Apparatus for applying surgical clips
US5836503A (en) 1996-04-22 1998-11-17 United States Surgical Corporation Insertion device for surgical apparatus
EP0878169A1 (en) 1997-05-14 1998-11-18 Ethicon Endo-Surgery, Inc. Improved electrosurgical hemostatic device including an anvil
US5839639A (en) 1995-08-17 1998-11-24 Lasersurge, Inc. Collapsible anvil assembly and applicator instrument
EP0879742A1 (en) 1997-05-20 1998-11-25 TRW Occupant Restraint Systems GmbH & Co. KG Method of manufacturing a cable portion with a fastening member for a vehicle occupant restraint system and cable portion manufactured by using the method
US5843132A (en) 1996-10-07 1998-12-01 Ilvento; Joseph P. Self-contained, self-powered temporary intravenous pacing catheter assembly
US5846254A (en) 1997-04-08 1998-12-08 Ethicon Endo-Surgery, Inc. Surgical instrument for forming a knot
US5849011A (en) 1995-06-19 1998-12-15 Vidamed, Inc. Medical device with trigger actuation assembly
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5860975A (en) 1994-12-21 1999-01-19 Gyrus Medical Limited Electrosurgical instrument
WO1999003407A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
WO1999003409A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
WO1999003408A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
US5865361A (en) 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
US5868760A (en) 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
US5873885A (en) 1996-08-29 1999-02-23 Storz Instrument Company Surgical handpiece
US5878193A (en) 1992-08-10 1999-03-02 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5878938A (en) 1997-08-11 1999-03-09 Ethicon Endo-Surgery, Inc. Surgical stapler with improved locking mechanism
US5878937A (en) 1991-10-18 1999-03-09 United States Surgical Corporation Apparatus for applying surgical fasteners
WO1999012483A1 (en) 1997-09-11 1999-03-18 Genzyme Corporation Articulating endoscopic implant rotator surgical apparatus and method for using same
WO1999012487A1 (en) 1997-09-09 1999-03-18 Sherwood Services Ag Apparatus and method for sealing and cutting tissue
WO1999012488A1 (en) 1997-09-10 1999-03-18 Sherwood Services Ag Bipolar instrument for vessel fusion
EP0650701B1 (en) 1993-11-01 1999-03-24 Gyrus Medical Limited Electrosurgical apparatus for laporoscopy and similar interventions
WO1999015091A1 (en) 1997-09-22 1999-04-01 Sherwood Services Ag Surgical gas plasma ignition apparatus and method
US5891160A (en) 1996-02-23 1999-04-06 Cardiovascular Technologies, Llc Fastener delivery and deployment mechanism and method for placing the fastener in minimally invasive surgery
US5899914A (en) 1997-06-11 1999-05-04 Endius Incorporated Surgical instrument
US5901895A (en) 1994-10-05 1999-05-11 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5902312A (en) 1995-07-03 1999-05-11 Frater; Dirk A. System for mounting bolster material on tissue staplers
US5904693A (en) 1993-04-27 1999-05-18 American Cyanamid Company Automatic laparoscopic ligation clip applicator
WO1999023933A2 (en) 1997-11-12 1999-05-20 Valleylab, Inc. Bipolar electrosurgical instrument with replaceable electrodes
WO1999023959A1 (en) 1997-11-12 1999-05-20 Valleylab, Inc. Bipolar electrosurgical instrument for sealing vessels
US5906625A (en) 1992-06-04 1999-05-25 Olympus Optical Co., Ltd. Tissue-fixing surgical instrument, tissue-fixing device, and method of fixing tissue
WO1999025261A1 (en) 1997-11-14 1999-05-27 Sherwood Services Ag Laparoscopic bipolar electrosurgical instrument
US5908402A (en) 1997-02-03 1999-06-01 Valleylab Method and apparatus for detecting tube occlusion in argon electrosurgery system
WO1999029244A1 (en) 1997-12-10 1999-06-17 Valleylab, Inc. Smart recognition apparatus and method
EP0923907A1 (en) 1997-12-19 1999-06-23 Gyrus Medical Limited An electrosurgical instrument
US5915616A (en) 1991-10-18 1999-06-29 United States Surgical Corporation Surgical fastener applying apparatus
US5919198A (en) 1997-04-17 1999-07-06 Ethicon Endo-Surgery, Inc. Disposable cartridge with drivers
WO1999034744A1 (en) 1998-01-09 1999-07-15 Ethicon, Inc. Suture buttress
US5931853A (en) 1995-08-25 1999-08-03 Mcewen; James A. Physiologic tourniquet with safety circuit
US5931847A (en) 1997-01-09 1999-08-03 Ethicon Endo-Surgery, Inc. Surgical cutting instrument with improved cutting edge
US5937951A (en) 1997-07-18 1999-08-17 Ethicon Endo-Surgery, Inc. Skin stapler with rack and pinion staple feed mechanism
US5941442A (en) 1995-10-27 1999-08-24 United States Surgical Surgical stapler
US5944715A (en) 1996-06-20 1999-08-31 Gyrus Medical Limited Electrosurgical instrument
US5944172A (en) 1997-10-06 1999-08-31 Allen-Bradley Company, Llc Biasing assembly for a switching device
FR2765794B1 (en) 1997-07-11 1999-09-03 Joel Bardeau DRAINAGE DEVICE, PARTICULARLY FOR COVERING
US5948030A (en) 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
US5951552A (en) 1997-06-30 1999-09-14 Ethicon Endo-Surgery, Inc. Capacitively coupled cordless electrosurgical instrument
US5951574A (en) 1998-10-23 1999-09-14 Ethicon Endo-Surgery, Inc. Multiple clip applier having a split feeding mechanism
WO1999045849A1 (en) 1998-03-12 1999-09-16 Shelhigh, Inc. Pericardial strip and stapler assembly for dividing and sealing visceral tissues and method of use thereof
WO1999048430A1 (en) 1998-03-26 1999-09-30 Gyrus Medical Limited An electrosurgical instrument
GB2336214A (en) 1998-01-16 1999-10-13 David William Taylor Preventionof multiple use of limited use devices
WO1999051158A1 (en) 1998-04-03 1999-10-14 Gyrus Medical Limited An electrode assembly for an electrosurgical instrument
US5971916A (en) 1995-12-27 1999-10-26 Koren; Arie Video camera cover
RU2141279C1 (en) 1998-03-11 1999-11-20 Кондратюк Георгий Константинович Multipurpose attachment
US5988479A (en) 1994-12-13 1999-11-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US6003517A (en) 1998-04-30 1999-12-21 Ethicon Endo-Surgery, Inc. Method for using an electrosurgical device on lung tissue
US6010054A (en) 1996-02-20 2000-01-04 Imagyn Medical Technologies Linear stapling instrument with improved staple cartridge
DE19851291A1 (en) 1998-11-06 2000-01-05 Siemens Ag Data input unit suitable for use in operating theatre
US6015406A (en) 1996-01-09 2000-01-18 Gyrus Medical Limited Electrosurgical instrument
US6017356A (en) 1997-09-19 2000-01-25 Ethicon Endo-Surgery Inc. Method for using a trocar for penetration and skin incision
US6017322A (en) 1995-11-21 2000-01-25 Catheter Imaging Systems, Inc. Steerable catheter having disposable module and sterilizable handle and method of connecting same
JP2000033071A (en) 1998-07-17 2000-02-02 Olympus Optical Co Ltd Endoscope therapeutic device
US6022352A (en) 1997-03-28 2000-02-08 Biomet, Inc. Bone fixation screw system
US6024748A (en) 1996-07-23 2000-02-15 United States Surgical Corporation Singleshot anastomosis instrument with detachable loading unit and method
US6033399A (en) 1997-04-09 2000-03-07 Valleylab, Inc. Electrosurgical generator with adaptive power control
US6033378A (en) 1990-02-02 2000-03-07 Ep Technologies, Inc. Catheter steering mechanism
US6033427A (en) 1998-01-07 2000-03-07 Lee; Benjamin I. Method and device for percutaneous sealing of internal puncture sites
US6032849A (en) 1995-08-28 2000-03-07 United States Surgical Surgical stapler
US6050472A (en) 1996-04-26 2000-04-18 Olympus Optical Co., Ltd. Surgical anastomosis stapler
US6053390A (en) 1992-05-19 2000-04-25 United States Surgical Anvil for surgical stapler
WO2000024322A1 (en) 1998-10-23 2000-05-04 Applied Medical Resources Corporation Surgical grasper with inserts and method of using same
WO2000024330A1 (en) 1998-10-23 2000-05-04 Sherwood Services Ag Open vessel sealing forceps with disposable electrodes
US6063098A (en) 1996-12-23 2000-05-16 Houser; Kevin Articulable ultrasonic surgical apparatus
US6066132A (en) 1998-06-30 2000-05-23 Ethicon, Inc. Articulating endometrial ablation device
US6071233A (en) 1997-10-31 2000-06-06 Olympus Optical Co., Ltd. Endoscope
US6074386A (en) 1995-12-29 2000-06-13 Gyrus Medical Limited Electrosurgical instrument and an electrosurgical electrode assembly
US6077286A (en) 1996-05-07 2000-06-20 Karl Storz Gmbh & Co. Kg Instrument with a bendable handle
JP2000171730A (en) 1998-12-08 2000-06-23 Olympus Optical Co Ltd Battery type portable endoscopic device
US6082577A (en) 1997-07-29 2000-07-04 Thomas & Betts International Inc. Cable tie dispensing apparatus
US6083234A (en) 1996-07-23 2000-07-04 Surgical Dynamics, Inc. Anastomosis instrument and method
US6083242A (en) 1999-02-17 2000-07-04 Holobeam, Inc. Surgical staples with deformation zones of non-uniform cross section
EP0484677B2 (en) 1990-10-05 2000-07-05 United States Surgical Corporation Apparatus for placing staples in laparoscopic or endoscopic procedures
US6086600A (en) 1997-11-03 2000-07-11 Symbiosis Corporation Flexible endoscopic surgical instrument for invagination and fundoplication
US6090106A (en) 1996-01-09 2000-07-18 Gyrus Medical Limited Electrosurgical instrument
WO2000041638A1 (en) 1999-01-15 2000-07-20 Gyrus Medical Limited An electrosurgical system
US6099537A (en) 1996-02-26 2000-08-08 Olympus Optical Co., Ltd. Medical treatment instrument
US6102271A (en) 1998-11-23 2000-08-15 Ethicon Endo-Surgery, Inc. Circular stapler for hemorrhoidal surgery
WO2000048506A1 (en) 1999-02-15 2000-08-24 Herrmann Ingo F Deformable fiberscope with a displaceable supplementary device
US6109500A (en) 1996-10-04 2000-08-29 United States Surgical Corporation Lockout mechanism for a surgical stapler
US6117158A (en) 1999-07-07 2000-09-12 Ethicon Endo-Surgery, Inc. Ratchet release mechanism for hand held instruments
EP1034748A1 (en) 1999-03-05 2000-09-13 Gyrus Medical Limited UHF electrosurgery system
EP1034747A1 (en) 1999-03-05 2000-09-13 Gyrus Medical Limited Electrosurgery system and instrument
WO2000053112A2 (en) 1999-03-05 2000-09-14 Gyrus Medical Limited Dual frequency electrosurgery system
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
WO2000054653A1 (en) 1999-03-12 2000-09-21 Boston Scientific Limited Controllable endoscopic sheath
US6123241A (en) 1995-05-23 2000-09-26 Applied Tool Development Corporation Internal combustion powered tool
US6126058A (en) 1998-06-19 2000-10-03 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
USH1904H (en) 1997-05-14 2000-10-03 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic method and device
US6126670A (en) 1998-12-16 2000-10-03 Medtronic, Inc. Cordless surgical handpiece with disposable battery; and method
WO2000057796A1 (en) 1999-03-31 2000-10-05 Rosenblatt Peter L Systems and methods for soft tissue reconstruction
JP2000287987A (en) 1999-04-01 2000-10-17 Olympus Optical Co Ltd Chargeable battery type medical treatment apparatus
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US6139546A (en) 1997-10-06 2000-10-31 Somnus Medical Technologies, Inc. Linear power control with digital phase lock
WO2000064365A1 (en) 1999-04-23 2000-11-02 Sdgi Holdings, Inc. Shape memory alloy staple
EP1053719A1 (en) 1999-05-21 2000-11-22 Gyrus Medical Limited Electrosurgery system and instrument
EP1053720A1 (en) 1999-05-21 2000-11-22 Gyrus Medical Limited Electrosurgery system and method
JP2000325303A (en) 1999-05-17 2000-11-28 Olympus Optical Co Ltd Endoscopic therapeutic device
EP1055399A1 (en) 1999-05-28 2000-11-29 Gyrus Medical Limited An electrosurgical generator and system
EP1055400A1 (en) 1999-05-28 2000-11-29 Gyrus Medical Limited An electrosurgical instrument
DE19924311A1 (en) 1999-05-27 2000-11-30 Walter A Rau Clip cutting device to cut body tissue and place staple on at least one side of cut line; has clamp head with staples and pressure plate part, with collagen and fibrin fleece underlay covering staples
WO2000072762A1 (en) 1999-06-02 2000-12-07 Powermed, Inc. Electromechanical driver for an anastomosis surgical stapler
WO2000072765A1 (en) 1999-06-02 2000-12-07 Powermed, Inc. An electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6159146A (en) 1999-03-12 2000-12-12 El Gazayerli; Mohamed Mounir Method and apparatus for minimally-invasive fundoplication
US6159200A (en) 1996-11-18 2000-12-12 Smith & Nephew Systems, methods, and instruments for minimally invasive surgery
US6165175A (en) 1999-02-02 2000-12-26 Ethicon Endo-Surgery, Inc. RF bipolar mesentery takedown device including improved bipolar end effector
US6165184A (en) 1996-11-18 2000-12-26 Smith & Nephew, Inc. Systems methods and instruments for minimally invasive surgery
US6168605B1 (en) 1999-07-08 2001-01-02 Ethicon Endo-Surgery, Inc. Curved laparoscopic scissor having arcs of curvature
US6171316B1 (en) 1997-10-10 2001-01-09 Origin Medsystems, Inc. Endoscopic surgical instrument for rotational manipulation
US6171330B1 (en) 1997-12-15 2001-01-09 Sofradim Production Pneumatic surgical instrument for the distribution and placement of connecting or fastening means
US6174309B1 (en) 1999-02-11 2001-01-16 Medical Scientific, Inc. Seal & cut electrosurgical instrument
WO2001003587A1 (en) 1999-07-12 2001-01-18 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
WO2001005702A1 (en) 1999-07-16 2001-01-25 Memc Electronic Materials, Inc. An acidic ozone solution having a high ozone content, a method for preparing the solution, and a cleaning method using the solution
US6181105B1 (en) 1999-04-26 2001-01-30 Exonix Corporation Self contained transportable power source maintenance and charge
WO2001010482A1 (en) 1999-08-05 2001-02-15 Biocardia, Inc. A system and method for delivering thermally sensitive and reverse-thermal gelation matrials
US6193129B1 (en) 2000-01-24 2001-02-27 Ethicon Endo-Surgery, Inc. Cutting blade for a surgical anastomosis stapling instrument
US6197042B1 (en) 2000-01-05 2001-03-06 Medical Technology Group, Inc. Vascular sheath with puncture site closure apparatus and methods of use
EP1080694A1 (en) 1999-06-11 2001-03-07 Gyrus Medical Limited An electrosurgical generator.
US6214028B1 (en) 1997-05-01 2001-04-10 Inbae Yoon Surgical instrument with multiple rotatably mounted offset end effectors and method of using the same
EP1090592A1 (en) 1999-10-05 2001-04-11 Ethicon Endo-Surgery Surgical stapler having two staple forming surfaces
US6220368B1 (en) 1999-06-29 2001-04-24 Microaire Surgical Instruments, Inc. Powered surgical instrument having locking systems and a clutch mechanism
US6223835B1 (en) 1999-01-29 2001-05-01 Black & Decker Inc. Battery-powered hand-guided power tool
EP1095627A1 (en) 1999-10-27 2001-05-02 Everest Medical Corporation Electrosurgical probe for surface treatment
US6228084B1 (en) 1999-04-06 2001-05-08 Kirwan Surgical Products, Inc. Electro-surgical forceps having recessed irrigation channel
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
WO2001035845A1 (en) 1999-11-18 2001-05-25 Gyrus Medical Limited Electrosurgical system
DE10052679A1 (en) 1999-10-26 2001-05-31 Circon Corp Endoscope has control section and shaft with frame, and pipe containing slits
US6241723B1 (en) 1997-10-15 2001-06-05 Team Medical Llc Electrosurgical system
US6249076B1 (en) 1998-04-14 2001-06-19 Massachusetts Institute Of Technology Conducting polymer actuator
US6250532B1 (en) 1991-10-18 2001-06-26 United States Surgical Corporation Surgical stapling apparatus
US6258107B1 (en) 1998-08-17 2001-07-10 DEUTSCHES ZENTRUM FüR LUFT-UND RAUMFAHRT E.V. Apparatus for connecting a variety of surgical instruments to an operating control device
US6261286B1 (en) 1995-06-23 2001-07-17 Gyrus Medical Limited Electrosurgical generator and system
WO2001054594A1 (en) 2000-01-24 2001-08-02 Ethicon Endo-Surgery (Europe) Gmbh Surgical stapling instrument
US6270508B1 (en) 1998-10-26 2001-08-07 Charles H. Klieman End effector and instrument for endoscopic and general surgery needle control
US6273897B1 (en) 2000-02-29 2001-08-14 Ethicon, Inc. Surgical bettress and surgical stapling apparatus
WO2001058371A1 (en) 2000-02-08 2001-08-16 Gyrus Medical Limited An electrosurgical instrument and an electrosurgery system including such an instrument
WO2001062162A1 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. A fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
WO2001062158A2 (en) 2000-02-22 2001-08-30 Power Medical Interventions Inc. A fluid delivery device
WO2001062164A2 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. An electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
WO2001062169A2 (en) 2000-02-22 2001-08-30 Gyrus Medical Limited Plasma device for tissue resurfacing
WO2001062161A1 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. A tissue stapling attachment for use with an electromechanical driver device
JP2001514541A (en) 1997-03-05 2001-09-11 ザ トラスティーズ オブ コロンビア ユニバーシティー イン ザ シティー オブ ニューヨーク Electrothermal device for sealing and bonding or cutting tissue
US6296640B1 (en) 1998-02-06 2001-10-02 Ethicon Endo-Surgery, Inc. RF bipolar end effector for use in electrosurgical instruments
DE20112837U1 (en) 2001-08-02 2001-10-04 Aesculap Ag & Co Kg Forceps or tweezers shaped surgical instrument
WO2001078605A2 (en) 2000-04-13 2001-10-25 Boston Scientific Corporation Magnetic clutch for the drive shaft of a catheter
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6320123B1 (en) 1999-10-20 2001-11-20 Steven S. Reimers System and method for shielding electrical components from electromagnetic waves
US6324339B1 (en) 1999-11-29 2001-11-27 Eveready Battery Company, Inc. Battery pack including input and output waveform modification capability
US6325810B1 (en) 1999-06-30 2001-12-04 Ethicon, Inc. Foam buttress for stapling apparatus
WO2001091646A1 (en) 2000-05-30 2001-12-06 Ethicon Endo-Surgery (Europe) Gmbh Surgical stapling instrument
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6331761B1 (en) 1998-06-22 2001-12-18 Stryker Corporation Battery charger capable of evaluating battery charge state based on the charging history of the battery
US6334860B1 (en) 1998-12-18 2002-01-01 Karl Storz Gmbh & Co. Kg Bipolar medical instrument
EP0908152B1 (en) 1997-10-10 2002-01-02 Ethicon Endo-Surgery, Inc. Ultrasonic clamp coagulator apparatus having force-limiting clamping mechanism
US6338737B1 (en) 1997-07-17 2002-01-15 Haviv Toledano Flexible annular stapler for closed surgery of hollow organs
WO2002007608A2 (en) 2000-07-20 2002-01-31 Tiva Medical, Inc. Hand-actuated articulating surgical tool
WO2002007618A1 (en) 2000-07-21 2002-01-31 Atropos Limited A cannula
US6346077B1 (en) 1996-02-20 2002-02-12 Cardiothoracic Systems, Inc. Surgical instrument for stabilizing the beating heart during coronary artery bypass graft surgery
US20020022836A1 (en) 1999-03-05 2002-02-21 Gyrus Medical Limited Electrosurgery system
US6352503B1 (en) 1998-07-17 2002-03-05 Olympus Optical Co., Ltd. Endoscopic surgery apparatus
WO2002017799A1 (en) 2000-08-30 2002-03-07 Cerebral Vascular Applications Inc. Medical instrument
WO2002019932A1 (en) 2000-09-05 2002-03-14 Gyrus Medical Limited Electrosurgery system
WO2002019920A1 (en) 2000-09-08 2002-03-14 Coleman James E Surgical staple
US6358224B1 (en) 1999-09-24 2002-03-19 Tyco Healthcare Group Lp Irrigation system for endoscopic surgery
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US6373152B1 (en) 1999-12-17 2002-04-16 Synergy Scientech Corp. Electrical energy storage device
WO2002030297A2 (en) 2000-10-13 2002-04-18 Tyco Healthcare Group Lp Surgical fastener applying apparatus
WO2002032322A2 (en) 2000-10-20 2002-04-25 United States Surgical Directionally biased staple and anvil assembly for forming the staple
CN2488482Y (en) 2001-07-05 2002-05-01 天津市华志计算机应用有限公司 Joint locking mechanism for mechanical arm
EP0872213B1 (en) 1993-10-01 2002-05-08 United States Surgical Corporation Apparatus with anvil for applying surgical fasteners
WO2002036028A1 (en) 2000-10-31 2002-05-10 Gyrus Medical Limited An electrosurgical system
US6387113B1 (en) 1999-02-02 2002-05-14 Biomet, Inc. Method and apparatus for repairing a torn meniscus
US6387114B2 (en) 2000-04-28 2002-05-14 Scimed Life Systems, Inc. Gastrointestinal compression clips
US6391038B2 (en) 1999-07-28 2002-05-21 Cardica, Inc. Anastomosis system and method for controlling a tissue site
JP2002143078A (en) 2000-11-08 2002-05-21 Olympus Optical Co Ltd Outside tube for endoscope
US6398781B1 (en) 1999-03-05 2002-06-04 Gyrus Medical Limited Electrosurgery system
WO2002043571A2 (en) 2000-11-28 2002-06-06 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6406440B1 (en) 2000-12-21 2002-06-18 Ethicon Endo-Surgery, Inc. Specimen retrieval bag
US6409724B1 (en) 1999-05-28 2002-06-25 Gyrus Medical Limited Electrosurgical instrument
US6416486B1 (en) 1999-03-31 2002-07-09 Ethicon Endo-Surgery, Inc. Ultrasonic surgical device having an embedding surface and a coagulating surface
US6419695B1 (en) 2000-05-22 2002-07-16 Shlomo Gabbay Cardiac prosthesis for helping improve operation of a heart valve
WO2002058568A1 (en) 2001-01-24 2002-08-01 Tyco Healthcare Group Lp Anastomosis instrument and method for performing same
WO2002060328A1 (en) 2001-01-31 2002-08-08 Rex Medical, Inc. Apparatus and method for stapling and resectioning gastro-esophageal tissue
RU2187249C2 (en) 2000-04-27 2002-08-20 Общество с ограниченной ответственностью "ЭНДОМЕДИУМ+" Surgical instrument
US6436097B1 (en) 1991-11-01 2002-08-20 Medical Scientific, Inc. Electrosurgical cutting tool
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US6436122B1 (en) 1999-03-17 2002-08-20 Karl Storz Gmbh & Co. Kg Handle for a medical instrument
US6440146B2 (en) 1996-07-23 2002-08-27 United States Surgical Corporation Anastomosis instrument and method
US6439446B1 (en) 2000-12-01 2002-08-27 Stephen J. Perry Safety lockout for actuator shaft
WO2002067785A2 (en) 2001-02-27 2002-09-06 Tyco Healthcare Group Lp External mixer assembly
US6450391B1 (en) 1998-07-10 2002-09-17 United States Surgical Corporation Apparatus and method for surgical fastening
US20020134811A1 (en) 2001-01-29 2002-09-26 Senco Products, Inc. Multi-mode power tool utilizing attachment
US6471106B1 (en) 2001-11-15 2002-10-29 Intellectual Property Llc Apparatus and method for restricting the discharge of fasteners from a tool
US20020165541A1 (en) 2001-04-20 2002-11-07 Whitman Michael P. Bipolar or ultrasonic surgical device
US6482200B2 (en) 2001-01-03 2002-11-19 Ronald D. Shippert Cautery apparatus and method
US6488196B1 (en) 1999-06-30 2002-12-03 Axya Medical, Inc. Surgical stapler and method of applying plastic staples to body tissue
US6492785B1 (en) 2000-06-27 2002-12-10 Deere & Company Variable current limit control for vehicle electric drive system
WO2002098302A1 (en) 2001-06-07 2002-12-12 Christy Cummins Surgical staple
US6494896B1 (en) 1999-11-30 2002-12-17 Closure Medical Corporation Applicator for laparoscopic or endoscopic surgery
JP2002369820A (en) 2001-05-07 2002-12-24 Ethicon Endo Surgery Inc Surgical tissue stapling instrument and staple cartridge, attached to its end effecter
WO2003001329A2 (en) 2001-06-20 2003-01-03 Power Medical Interventions, Inc. A method and system for integrated medical tracking
WO2003000138A2 (en) 1999-06-02 2003-01-03 Power Medical Interventions, Inc. Electro-mechanical surgical device with data memory unit
US6503257B2 (en) 2001-05-07 2003-01-07 Ethicon Endo-Surgery, Inc. Method for releasing buttress material attached to a surgical fastening device
US6503259B2 (en) 2000-12-27 2003-01-07 Ethicon, Inc. Expandable anastomotic device
US6511468B1 (en) 1997-10-17 2003-01-28 Micro Therapeutics, Inc. Device and method for controlling injection of liquid embolic composition
US6510854B2 (en) 2000-03-16 2003-01-28 Gyrus Medical Limited Method of treatment of prostatic adenoma
US6517535B2 (en) 1994-06-24 2003-02-11 Gyrus Ent L.L.C. Apparatus for ablating turbinates
US6517566B1 (en) 1998-05-11 2003-02-11 Surgical Connections, Inc. Devices and methods for treating e.g. urinary stress incontinence
US6517565B1 (en) 1999-06-02 2003-02-11 Power Medical Interventions, Inc. Carriage assembly for controlling a steering wire steering mechanism within a flexible shaft
US6522101B2 (en) 1999-12-10 2003-02-18 Stryker Corporation Rechargeable battery with memory that contains charging sequence data
EP1284120A1 (en) 2001-08-09 2003-02-19 Ingo F. Prof. Dr. Herrmann Disposable endoscope sheath
WO2003013363A1 (en) 2001-08-09 2003-02-20 Christy Cummins Surgical stapling device and method
WO2003015604A2 (en) 2001-08-16 2003-02-27 Is, Llc Apparatus for delivering instrument over endoscope
EP1287788A1 (en) 2001-08-27 2003-03-05 Gyrus Medical Limited Electrosurgical system
WO2003020139A2 (en) 2001-09-03 2003-03-13 Vleugels Michel Petronella Hub Surgical instrument
WO2003020106A2 (en) 2001-08-28 2003-03-13 Ethicon, Inc. Composite staple for completing an anastomosis
WO2003024339A1 (en) 2001-09-21 2003-03-27 Gyrus Medical Limited Surgical system and method for cutting and coagulation
US6543456B1 (en) 2002-05-31 2003-04-08 Ethicon Endo-Surgery, Inc. Method for minimally invasive surgery in the digestive system
US6547786B1 (en) 1999-05-21 2003-04-15 Gyrus Medical Electrosurgery system and instrument
WO2003030743A2 (en) 2001-10-05 2003-04-17 Tyco Healthcare Group Lp Surgical stapling device
DE20121753U1 (en) 2001-06-15 2003-04-17 Bema Gmbh & Co Kg Endochirurgi Handle for a surgical instrument comprises a locking device having a sliding element attached to one handle part and axially moving in a clamping housing attached to the other handle part
US6551333B2 (en) 2000-10-19 2003-04-22 Ethicon Endo-Surgery, Inc. Method for attaching hernia mesh
US6550546B2 (en) 1999-06-03 2003-04-22 One World Technologies, Inc. Spindle lock and chipping mechanism for hammer drill
US6554861B2 (en) 1999-01-19 2003-04-29 Gyrus Ent L.L.C. Otologic prosthesis
WO2003037193A1 (en) 2001-10-30 2003-05-08 Eurosurgical Sa Surgical instrument
US20030093103A1 (en) 2001-08-08 2003-05-15 Don Malackowski Surgical tool system with components that perform inductive data transfer
US6565560B1 (en) 1997-07-18 2003-05-20 Gyrus Medical Limited Electrosurgical instrument
US6569171B2 (en) 2001-02-28 2003-05-27 Microline, Inc. Safety locking mechanism for a medical clip device
EP0829235B1 (en) 1996-09-12 2003-06-04 Ethicon Endo-Surgery, Inc. Surgical clamping mechanism
US20030105478A1 (en) 2001-11-30 2003-06-05 Whitman Michael P. Surgical device
US6578751B2 (en) 2001-09-26 2003-06-17 Scimed Life Systems, Inc. Method of sequentially firing staples using springs and a rotary or linear shutter
US6582427B1 (en) 1999-03-05 2003-06-24 Gyrus Medical Limited Electrosurgery system
US6589164B1 (en) 2000-02-15 2003-07-08 Transvascular, Inc. Sterility barriers for insertion of non-sterile apparatus into catheters or other medical devices
WO2003055402A1 (en) 2001-12-27 2003-07-10 Gyrus Group Plc A surgical instrument
US20030130677A1 (en) 2002-01-08 2003-07-10 Whitman Michael P. Surgical device
WO2003057058A1 (en) 2002-01-03 2003-07-17 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
US6596432B2 (en) 1994-05-30 2003-07-22 Canon Kabushiki Kaisha Rechargeable batteries
US20030139741A1 (en) 2000-10-31 2003-07-24 Gyrus Medical Limited Surgical instrument
US6601749B2 (en) 1998-06-19 2003-08-05 Scimed Life Systems, Inc. Multi fire full thickness resectioning device
WO2003063694A1 (en) 2002-01-30 2003-08-07 Power Medical Interventions, Inc. Surgical imaging device
US6605078B2 (en) 2001-11-26 2003-08-12 Scimed Life Systems, Inc. Full thickness resection device
US6605669B2 (en) 2001-04-03 2003-08-12 E. I. Du Pont De Nemours And Company Radiation-curable coating compounds
USD478665S1 (en) 2002-03-22 2003-08-19 Gyrus Ent L.L.C. Disposable trigger
USD478986S1 (en) 2002-03-22 2003-08-26 Gyrus Ent L.L.C. Surgical tool
US6620166B1 (en) 1998-01-09 2003-09-16 Ethicon, Inc. Suture buttress system
WO2003077769A1 (en) 2002-03-15 2003-09-25 Power Medical Interventions, Inc. Drive shaft for an electro-mechanical surgical device
WO2003079911A1 (en) 2002-03-22 2003-10-02 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
US6629974B2 (en) 2000-02-22 2003-10-07 Gyrus Medical Limited Tissue treatment method
US6629630B2 (en) 1998-06-19 2003-10-07 Scimed Life Systems, Inc. Non-circular resection device and endoscope
WO2003082126A1 (en) 2002-03-26 2003-10-09 Synovis Life Technologies, Inc. Circular stapler buttress combination
US6636412B2 (en) 1999-09-17 2003-10-21 Taser International, Inc. Hand-held stun gun for incapacitating a human target
US6638108B2 (en) 2000-11-30 2003-10-28 Sumitomo Wiring Systems, Ltd. Connector with plural housings accommodated in a casing
US6638285B2 (en) 2001-04-16 2003-10-28 Shlomo Gabbay Biological tissue strip and system and method to seal tissue
US6638297B1 (en) 2002-05-30 2003-10-28 Ethicon Endo-Surgery, Inc. Surgical staple
WO2003088845A2 (en) 2002-04-16 2003-10-30 Tyco Healthcare Group, Lp Surgical stapler and method
US6641528B2 (en) 2000-09-08 2003-11-04 Fuji Photo Optical Co., Ltd. Bending part of endoscope
WO2003090630A2 (en) 2002-04-25 2003-11-06 Tyco Healthcare Group, Lp Surgical instruments including micro-electromechanical systems (mems)
US20030205029A1 (en) 2000-01-20 2003-11-06 Chapolini Robert J. Method and apparatus for introducing a non-sterile component into a sterile device
US6648816B2 (en) 2000-02-01 2003-11-18 Karl Storz Gmbh & Co. Kg Device for intracorporal, minimal-invasive treatment of a patient
WO2003094743A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Wound closure material applicator and stapler
WO2003094747A1 (en) 2002-05-13 2003-11-20 Tyco Healthcare Group, Lp Surgical stapler and disposable loading unit having different size staples
WO2003094745A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Electrosurgical stapling apparatus
US20030216732A1 (en) 2002-05-20 2003-11-20 Csaba Truckai Medical instrument with thermochromic or piezochromic surface indicators
WO2003094746A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Surgical stapling apparatus having a wound closure material applicator assembly
US20030220660A1 (en) 2002-04-24 2003-11-27 Kortenbach Juergen A. Tissue fastening devices and processes that promote tissue adhesion
WO2003101313A1 (en) 2002-05-31 2003-12-11 Cerebral Vascular Applications, Inc. Medical instrument
USD484243S1 (en) 2002-03-22 2003-12-23 Gyrus Ent L.L.C. Surgical tool blade holder
US6666875B1 (en) 1999-03-05 2003-12-23 Olympus Optical Co., Ltd. Surgical apparatus permitting recharge of battery-driven surgical instrument in noncontact state
WO2003105702A2 (en) 2002-06-14 2003-12-24 Power Medical Interventions, Inc. Surgical device
WO2003105698A2 (en) 2002-06-17 2003-12-24 Tyco Healthcare Group, Lp Annular support structures
US6671185B2 (en) 2001-11-28 2003-12-30 Landon Duval Intelligent fasteners
USD484596S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
USD484595S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
US20040002726A1 (en) 2002-06-28 2004-01-01 George Nunez Balloon-type actuator for surgical applications
EP1374788A1 (en) 2002-06-27 2004-01-02 Gyrus Medical Limited Electrosurgical system
USD484977S1 (en) 2002-03-22 2004-01-06 Gyrus Ent L.L.C. Surgical tool blade holder
US20040006340A1 (en) 2002-07-02 2004-01-08 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting, desiccating and sealing tissue
US20040006335A1 (en) 2002-07-08 2004-01-08 Garrison Lawrence L. Cauterizing surgical saw
US6676660B2 (en) 2002-01-23 2004-01-13 Ethicon Endo-Surgery, Inc. Feedback light apparatus and method for use with an electrosurgical instrument
US6679410B2 (en) 2001-07-19 2004-01-20 Hilti Aktiengesellschaft Setting tool with a setting depth control
WO2004006980A2 (en) 2002-07-11 2004-01-22 Sightline Technologies Ltd. Piston-actuated endoscopic steering system
US6682527B2 (en) 2001-03-13 2004-01-27 Perfect Surgical Techniques, Inc. Method and system for heating tissue with a bipolar instrument
US6682528B2 (en) 1998-10-23 2004-01-27 Sherwood Services Ag Endoscopic bipolar electrosurgical forceps
US6685727B2 (en) 2001-12-07 2004-02-03 Bio-Seal, Llc Bioabsorbable sealant
WO2004011037A2 (en) 2002-07-31 2004-02-05 Tyco Heathcare Group, Lp Tool member cover and cover deployment device
US20040030333A1 (en) 1999-01-15 2004-02-12 Gyrus Medical Ltd. Electrosurgical system and method
US6692507B2 (en) 2001-08-23 2004-02-17 Scimed Life Systems, Inc. Impermanent biocompatible fastener
US20040034357A1 (en) 1999-08-03 2004-02-19 University Of Massachusetts, A Massachusetts Corporation Controlled release implantable devices
US20040034369A1 (en) 2001-02-02 2004-02-19 Sauer Jude S. System for endoscopic suturing
US6699235B2 (en) 2001-06-29 2004-03-02 Intuitive Surgical, Inc. Platform link wrist mechanism
WO2003079909A3 (en) 2002-03-19 2004-03-04 Tyco Healthcare Surgical fastener applying apparatus
US20040044364A1 (en) 2002-08-29 2004-03-04 Devries Robert Tissue fasteners and related deployment systems and methods
US6704210B1 (en) 1994-05-20 2004-03-09 Medtronic, Inc. Bioprothesis film strip for surgical stapler and method of attaching the same
RU2225170C2 (en) 2001-12-25 2004-03-10 Дубровский Аркадий Вениаминович Instrument having rotation device
WO2004019769A1 (en) 2002-08-27 2004-03-11 Neoguide Systems, Inc. Tendon-dirven endoscope and methods of insertion
US6705503B1 (en) 2001-08-20 2004-03-16 Tricord Solutions, Inc. Electrical motor driven nail gun
WO2004021868A2 (en) 2002-09-06 2004-03-18 C.R. Bard, Inc. External endoscopic accessory control system
US6712773B1 (en) 2000-09-11 2004-03-30 Tyco Healthcare Group Lp Biopsy system
EP1402837A1 (en) 2002-09-18 2004-03-31 Ethicon Endo-Surgery, Inc. Endoscopic ablation system with a plurality of electrodes
US6716232B1 (en) 1993-04-30 2004-04-06 United States Surgical Corporation Surgical instrument having an articulated jaw structure and a detachable knife
US6716233B1 (en) 1999-06-02 2004-04-06 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6716223B2 (en) 2001-11-09 2004-04-06 Micrus Corporation Reloadable sheath for catheter system for deploying vasoocclusive devices
WO2004028585A2 (en) 2002-09-30 2004-04-08 Sightline Technologies Ltd. Piston-actuated endoscopic tool
US20040068161A1 (en) 2002-10-02 2004-04-08 Couvillon Lucien Alfred Thrombolysis catheter
US20040068307A1 (en) 2000-02-08 2004-04-08 Gyrus Medical Limited Surgical instrument
EP1407719A2 (en) 2002-10-08 2004-04-14 Gyrus Medical Limited A surgical instrument
US20040070369A1 (en) 2002-10-11 2004-04-15 Makita Corporation Adapters for battery chargers
US6723087B2 (en) 2001-12-14 2004-04-20 Medtronic, Inc. Apparatus and method for performing surgery on a patient
US6723091B2 (en) 2000-02-22 2004-04-20 Gyrus Medical Limited Tissue resurfacing
WO2004032762A1 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Tool assembly for a surgical stapling device
WO2004032763A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Surgical stapler with universal articulation and tissue pre-clamp
WO2004032760A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Pneumatic powered surgical stapling device
US20040078037A1 (en) 2001-05-10 2004-04-22 Gyrus Medical Limited Surgical instrument
WO2004032754A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Tool assembly for surgical stapling device
WO2004034875A2 (en) 2002-10-15 2004-04-29 Dusa Pharmaceuticals, Inc. Medical device sheath apparatus and method
US20040093024A1 (en) 2000-09-01 2004-05-13 James Lousararian Advanced wound site management systems and methods
US6740030B2 (en) 2002-01-04 2004-05-25 Vision Sciences, Inc. Endoscope assemblies having working channels with reduced bending and stretching resistance
US20040101822A1 (en) 2002-11-26 2004-05-27 Ulrich Wiesner Fluorescent silica-based nanoparticles
US6747121B2 (en) 2001-09-05 2004-06-08 Synthes (Usa) Poly(L-lactide-co-glycolide) copolymers, methods for making and using same, and devices containing same
WO2004047626A1 (en) 2002-11-22 2004-06-10 Jiang, Shoumei Endoscope assembly with disposable sheath
WO2004047653A2 (en) 2002-11-26 2004-06-10 Stephan Koscher Surgical instrument
US20040115022A1 (en) 1997-07-03 2004-06-17 Albertson Stephen H. Categorizing fasteners and construction connectors using visual identifiers
WO2004049956A2 (en) 2002-11-27 2004-06-17 The Anspach Effort Powered kerrison-like rongeur system
US6752816B2 (en) 1996-08-15 2004-06-22 Stryker Corporation Powered surgical handpiece with removable control switch
US6752768B2 (en) 1999-12-17 2004-06-22 Ethicon Endo-Surgery Surgical biopsy system with remote control for selecting an operational mode
WO2004052426A2 (en) 2002-12-05 2004-06-24 Vision-Sciences, Inc. Endoscopic sheath assemblies having longitudinal expansion inhibiting mechanisms
US6755195B1 (en) 1999-11-11 2004-06-29 Norbert Lemke Device for controlling an electric appliance used in the sterile area during medical operations
US6758846B2 (en) 2000-02-08 2004-07-06 Gyrus Medical Limited Electrosurgical instrument and an electrosurgery system including such an instrument
WO2004056276A1 (en) 2002-12-20 2004-07-08 Gyrus Ent L.L.C A surgical instrument
WO2004056277A1 (en) 2002-12-23 2004-07-08 Gyrus Medical Limited Electrosurgical method and apparatus
US6767356B2 (en) 2000-09-01 2004-07-27 Angiolink Corporation Advanced wound site management systems and methods
US6767352B2 (en) 1999-08-03 2004-07-27 Onux Medical, Inc. Surgical suturing instrument and method of use
WO2004062516A1 (en) 2003-01-09 2004-07-29 Gyrus Medical Limited An electrosurgical generator
US6769594B2 (en) 2002-05-31 2004-08-03 Tyco Healthcare Group, Lp End-to-end anastomosis instrument and method for performing same
EP1442694A1 (en) 2003-01-29 2004-08-04 Karl Storz Endovision, Inc. Composite flexible endoscope insertion shaft with tubular substructure
US6773438B1 (en) 2000-10-19 2004-08-10 Ethicon Endo-Surgery Surgical instrument having a rotary lockout mechanism
US6780151B2 (en) 1999-10-26 2004-08-24 Acmi Corporation Flexible ureteropyeloscope
US6780180B1 (en) 1995-06-23 2004-08-24 Gyrus Medical Limited Electrosurgical instrument
US20040164123A1 (en) 2000-10-13 2004-08-26 Racenet David C. Surgical stapling device
US20040167572A1 (en) 2003-02-20 2004-08-26 Roth Noah M. Coated medical devices
US6783524B2 (en) * 2001-04-19 2004-08-31 Intuitive Surgical, Inc. Robotic surgical tool with ultrasound cauterizing and cutting instrument
US6786382B1 (en) 2003-07-09 2004-09-07 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an articulation joint for a firing bar track
US6786864B2 (en) 2001-02-06 2004-09-07 Olympus Corporation Endoscopic system and method for positioning an indwelling tube
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
US6790173B2 (en) 2002-06-13 2004-09-14 Usgi Medical, Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20040181219A1 (en) 2000-02-08 2004-09-16 Gyrus Medical Limited Electrosurgical instrument and an electrosugery system including such an instrument
WO2004078050A2 (en) 2003-03-05 2004-09-16 Gyrus Medical Limited Electrosurgical generator and system
WO2004078051A2 (en) 2001-08-27 2004-09-16 Gyrus Medial Limited Electrosurgical system
EP1459695A1 (en) 2003-03-21 2004-09-22 Ethicon Endo-Surgery, Inc. Medical device with improved wall construction
US20040186470A1 (en) 2000-02-22 2004-09-23 Gyrus Medical Limited Tissue resurfacing
US20040193189A1 (en) 2003-03-25 2004-09-30 Kortenbach Juergen A. Passive surgical clip
WO2004086987A1 (en) 2003-03-26 2004-10-14 Tyco Healthcare Group, Lp Energy stored in spring with controlled release
US6805273B2 (en) 2002-11-04 2004-10-19 Federico Bilotti Surgical stapling instrument
US6806808B1 (en) 1999-02-26 2004-10-19 Sri International Wireless event-recording device with identification codes
DE10314072A1 (en) 2003-03-28 2004-10-21 Aesculap Ag & Co. Kg Surgical instrument e.g. surgical pliers, clamping tool, cutting tool, has rotation lock that has indentation bar engaging indentation return to fix movable handles of surgical instrument in closed position
US6808525B2 (en) 2001-08-27 2004-10-26 Gyrus Medical, Inc. Bipolar electrosurgical hook probe for cutting and coagulating tissue
EP1473819A1 (en) 2002-01-16 2004-11-03 Toyota Jidosha Kabushiki Kaisha Voltage converter control apparatus, voltage conversion method, storage medium, program, drive system, and vehicle having the drive system
US6814741B2 (en) 1998-01-09 2004-11-09 Ethicon, Inc. Suture buttress
WO2004096057A2 (en) 2003-04-29 2004-11-11 Tyco Healthcare Group, Lp Surgical stapling device with dissecting tip
WO2004096015A2 (en) 2003-04-25 2004-11-11 Applied Medical Resources Corporation Steerable kink-resistant sheath
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
EP1477119A1 (en) 2002-02-20 2004-11-17 New X-national Technology K.K. Drug administration method
US20040230214A1 (en) 2000-10-20 2004-11-18 Donofrio William T. Finger operated switch for controlling a surgical handpiece
US6821284B2 (en) 2003-01-22 2004-11-23 Novare Surgical Systems, Inc. Surgical clamp inserts with micro-tractive surfaces
EP1479345A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery Surgical stapling instrument having a spent cartridge lockout
EP1479348A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery Surgical stapling instrument having a single lockout mechanism
EP1479347A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
JP2004329624A (en) 2003-05-08 2004-11-25 Olympus Corp Surgical treatment instrument
US20040243163A1 (en) 2003-04-02 2004-12-02 Gyrus Ent L.L.C Surgical instrument
US6828902B2 (en) 1998-12-14 2004-12-07 Soundcraft, Inc. Wireless data input to RFID reader
JP2004344663A (en) 2003-05-20 2004-12-09 Ethicon Endo Surgery Inc Surgical stapler having separate closing and firing systems
WO2004105621A1 (en) 2003-05-09 2004-12-09 Tyco Healthcare Group, Lp Anastomotic staple with fluid dispensing capillary
WO2004105593A1 (en) 2003-05-29 2004-12-09 Kiyoteru Shima External forceps channel device for endoscope
US20040254566A1 (en) 2003-01-31 2004-12-16 Gianni Plicchi Apparatus for the maneuvering of flexible catheters in the human cardiovascular system
US20040254608A1 (en) 2003-06-16 2004-12-16 Huitema Thomas W. Surgical implant with preferential corrosion zone
US6834001B2 (en) 2001-09-26 2004-12-21 Sanyo Electric Co., Ltd. Multi-stage switched capacitor DC-DC converter
US6832998B2 (en) 2001-12-27 2004-12-21 Gyrus Group Plc Surgical instrument
US20040260315A1 (en) 2003-06-17 2004-12-23 Dell Jeffrey R. Expandable tissue support member and method of forming the support member
WO2004112652A2 (en) 2003-06-20 2004-12-29 Medtronic Vascular, Inc. Device, system, and method for contracting tissue in a mammalian body
WO2004112618A2 (en) 2003-06-17 2004-12-29 Tyco Healthcare Group, Lp Surgical stapling device
EP1001710B1 (en) 1997-08-05 2005-01-12 Gyrus Ent, L.L.C. Cell necrosis apparatus using electromagnetic energy
US20050006430A1 (en) * 2003-07-09 2005-01-13 Wales Kenneth S. Surgical instrument with a lateral-moving articulation control
US6843789B2 (en) 2000-10-31 2005-01-18 Gyrus Medical Limited Electrosurgical system
JP2005028149A (en) 2003-07-09 2005-02-03 Ethicon Endo Surgery Inc Surgical stapling instrument incorporating tapered firing bar for increased flexibility around articulation joint
US20050033357A1 (en) 2003-04-01 2005-02-10 Marcus Braun Surgical instrument comprising an instrument handle and zero point adjustment
US20050032511A1 (en) 2003-08-07 2005-02-10 Cardiac Pacemakers, Inc. Wireless firmware download to an external device
USRE38708E1 (en) 1995-07-11 2005-03-01 United States Surgical Corporation Disposable loading unit for surgical stapler
US20050054946A1 (en) 2003-09-04 2005-03-10 Jacek Krzyzanowski Variations of biopsy jaw and clevis and method of manufacture
US6866178B2 (en) 1998-06-19 2005-03-15 Boston Scientific Scimed, Inc. Integrated surgical staple retainer for a full thickness resectioning device
US20050059997A1 (en) 2003-09-17 2005-03-17 Bauman Ann M. Circular stapler buttress
US6872214B2 (en) 2000-11-20 2005-03-29 Medigus Ltd. Stapler for endoscopes
WO2005027983A2 (en) 2003-09-17 2005-03-31 Gore Enterprise Holdings, Inc. Circular stapler buttress
US20050070929A1 (en) 2003-09-30 2005-03-31 Dalessandro David A. Apparatus and method for attaching a surgical buttress to a stapling apparatus
EP1520521A1 (en) 2003-09-29 2005-04-06 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
EP1520523A1 (en) 2003-09-29 2005-04-06 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
US20050080454A1 (en) 2003-10-08 2005-04-14 Drews Michael J. Attachment device and methods of using the same
EP1523942A2 (en) 2003-10-17 2005-04-20 Tyco Healthcare Group Lp Surgical fastener applying apparatus with controlled beam deflection
US20050085693A1 (en) 2000-04-03 2005-04-21 Amir Belson Activated polymer articulated instruments and methods of insertion
US20050090817A1 (en) 2003-10-22 2005-04-28 Scimed Life Systems, Inc. Bendable endoscopic bipolar device
WO2005037329A2 (en) 2003-10-17 2005-04-28 Tyco Healthcare Group, Lp Surgical stapling device with independent tip rotation
US6889116B2 (en) 2000-09-29 2005-05-03 Kabushiki Kaisha Toshiba Manipulator
US6893435B2 (en) 2000-10-31 2005-05-17 Gyrus Medical Limited Electrosurgical system
WO2005044078A2 (en) 2003-10-30 2005-05-19 Woojin Lee Surgical instrument
JP2005131211A (en) 2003-10-31 2005-05-26 Olympus Corp Externally mounted channel for endoscope
US20050113820A1 (en) 2001-08-27 2005-05-26 Gyrus Medical Limited Electrosurgical generator and system
JP2005131164A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope
JP2005131212A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope and endoscope device
JP2005131173A (en) 2003-10-31 2005-05-26 Olympus Corp Externally mounted channel for endoscope
JP2005131163A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope
US20050119669A1 (en) 2003-04-29 2005-06-02 Todd Demmy Dissecting tip for surgical stapler
US20050119525A1 (en) 2003-11-27 2005-06-02 Olympus Corporation Insertion auxiliary implement
JP2005137423A (en) 2003-11-04 2005-06-02 Olympus Corp External channel for endoscope and branch member for external channel
US20050125009A1 (en) 2000-11-27 2005-06-09 Perry Stephen J. Full thickness resection device control handle
US20050124855A1 (en) 2000-04-03 2005-06-09 Ross Jaffe Endoscope having a guide tube
US6905497B2 (en) 2001-10-22 2005-06-14 Surgrx, Inc. Jaw structure for electrosurgical instrument
US20050131211A1 (en) 1997-07-25 2005-06-16 Hagan Bayley Designed protein pores as components for biosensors
US20050131457A1 (en) 2003-12-15 2005-06-16 Ethicon, Inc. Variable stiffness shaft
US20050131173A1 (en) 1998-05-18 2005-06-16 Phillips Petroleum Company Compositions that can produce polymers
WO2005055846A1 (en) 2003-12-09 2005-06-23 Gyrus Group Plc A surgical instrument
US20050137455A1 (en) 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20050143759A1 (en) 2003-12-30 2005-06-30 Kelly William D. Curved cutter stapler shaped for male pelvis
US6913613B2 (en) 1999-09-09 2005-07-05 Tuebingen Scientific Surgical Products Ohg Surgical instrument for minimally invasive surgical interventions
US6913608B2 (en) 2000-10-23 2005-07-05 Viacor, Inc. Automated annular plication for mitral valve repair
CN1634601A (en) 2003-12-26 2005-07-06 吉林省中立实业有限公司 Method for sterilizing medical appliance
EP1550409A1 (en) 2003-12-30 2005-07-06 Ethicon Endo-Surgery, Inc. Replaceable cartridge module for a surgical stapling and cutting instrument
US20050145675A1 (en) 2003-12-24 2005-07-07 Scimed Life Systems, Inc. Circumferential full thickness resectioning device
US20050154258A1 (en) 2000-04-03 2005-07-14 Tartaglia Joseph M. Endoscope with adjacently positioned guiding apparatus
US20050165419A1 (en) 2001-02-02 2005-07-28 Sauer Jude S. System for endoscopic suturing
US6923803B2 (en) 1999-01-15 2005-08-02 Gyrus Medical Limited Electrosurgical system and method
US20050169974A1 (en) 2002-05-08 2005-08-04 Radi Medical Systems Ab Dissolvable medical sealing device
US20050171522A1 (en) 2004-01-30 2005-08-04 Christopherson Mark A. Transurethral needle ablation system with needle position indicator
WO2005072634A2 (en) 2004-02-02 2005-08-11 Gyrus Medical, Inc. An electrosurgical instrument
US20050177181A1 (en) 2002-11-01 2005-08-11 Jonathan Kagan Devices and methods for treating morbid obesity
US6929641B2 (en) 2001-08-27 2005-08-16 Gyrus Medical Limited Electrosurgical system
EP1067876B1 (en) 1998-04-03 2005-08-17 Gyrus Medical Limited Endoscope
US20050182298A1 (en) 2002-12-06 2005-08-18 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
US6931830B2 (en) 2002-12-23 2005-08-23 Chase Liao Method of forming a wire package
WO2005078892A1 (en) 2004-02-11 2005-08-25 P A Consulting Services Limited Power supply systems for electrical devices
US20050187576A1 (en) 2004-02-23 2005-08-25 Whitman Michael P. Surgical cutting and stapling device
US20050187545A1 (en) 2004-02-20 2005-08-25 Hooven Michael D. Magnetic catheter ablation device and method
US6936042B2 (en) * 1999-01-22 2005-08-30 Intuitive Surgical Surgical tools for use in minimally invasive telesurgical applications
WO2005079675A2 (en) 2004-02-17 2005-09-01 Cook Biotech Incorporated Medical devices and methods for applying bolster material
US20050189397A1 (en) 2002-04-11 2005-09-01 Tyco Healthcare Group, Inc. Surgical stapling apparatus including an anvil and cartridge each having cooperating mating surfaces
US6939358B2 (en) 2001-12-20 2005-09-06 Gore Enterprise Holdings, Inc. Apparatus and method for applying reinforcement material to a surgical stapler
EP1157666B1 (en) 1994-12-22 2005-09-07 Ethicon Endo-Surgery, Inc. Impedance feedback monitor for electrosurgical instrument
US6942662B2 (en) 2001-12-27 2005-09-13 Gyrus Group Plc Surgical Instrument
US20050203550A1 (en) 2004-03-11 2005-09-15 Laufer Michael D. Surgical fastener
US6945444B2 (en) 2001-04-03 2005-09-20 Tyco Healthcare Group, Lp Surgical stapling device for performing circular anastomoses
US6953138B1 (en) 2004-02-18 2005-10-11 Frank W. Dworak Surgical stapler anvil with nested staple forming pockets
US20050228224A1 (en) 2004-04-13 2005-10-13 Olympus Corporation Endoscope therapeutic device
WO2005096954A2 (en) 2004-03-31 2005-10-20 Kevin Marchitto Electromagnetic treatment of tissues and cells
EP0880338B1 (en) 1996-02-13 2005-10-26 ConMed Corporation Surgical access device
US20050240222A1 (en) 2004-04-27 2005-10-27 Shipp John I Surgery delivery device and mesh anchor
US6960220B2 (en) 2003-01-22 2005-11-01 Cardia, Inc. Hoop design for occlusion device
US6959851B2 (en) 2003-07-16 2005-11-01 Tyco Healthcare Group Lp Surgical stapling device with tissue tensioner
EP1344498B1 (en) 1996-01-09 2005-11-09 Gyrus Medical Limited An electrosurgical instrument
US20050251128A1 (en) 2004-04-28 2005-11-10 Gyrus Medical Limited Electrosurgical method and apparatus
US6964363B2 (en) 2003-07-09 2005-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having articulation joint support plates for supporting a firing bar
US20050256522A1 (en) 2004-05-12 2005-11-17 Medtronic, Inc. Device and method for determining tissue thickness and creating cardiac ablation lesions
US20050256452A1 (en) 2002-11-15 2005-11-17 Demarchi Thomas Steerable vascular sheath
US6966907B2 (en) 2001-08-27 2005-11-22 Gyrus Medical Limited Electrosurgical generator and system
US6966909B2 (en) 2002-03-15 2005-11-22 Gyrus Medical Limited Surgical instrument
US20050261677A1 (en) 2004-05-20 2005-11-24 Gyrus Medical Limited Surgical instrument
US20050267455A1 (en) 2002-05-31 2005-12-01 Eggers Philip E Electrosurgery with infiltration anesthesia
US6972199B2 (en) 2000-07-25 2005-12-06 Verimetra, Inc. Method of making a cutting instrument having integrated sensors
EP1330989B1 (en) 1996-01-09 2005-12-07 Gyrus Medical Limited An electrosurgical instrument
WO2005115253A2 (en) 2004-05-17 2005-12-08 Rex Medical, L.P. Vascular hole closure device
US6974462B2 (en) 2001-12-19 2005-12-13 Boston Scientific Scimed, Inc. Surgical anchor implantation device
US20050274768A1 (en) 2004-05-25 2005-12-15 Christy Cummins Surgical stapler
WO2005117735A1 (en) 2004-06-02 2005-12-15 Gyrus Medical Limited Electrosurgical generator and system
US6978922B2 (en) 2001-11-28 2005-12-27 Ethicon Endo-Surgery (Europe) G.M.B.H. Surgical stapling instrument
WO2005122936A1 (en) 2004-06-18 2005-12-29 Gyrus Medical Limited A surgical instrument
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US6981978B2 (en) 2002-08-30 2006-01-03 Satiety, Inc. Methods and devices for maintaining a space occupying device in a relatively fixed location within a stomach
US20060008787A1 (en) 2004-07-02 2006-01-12 Robert Hayman Voice alert in dentistry
US6988650B2 (en) 2003-12-30 2006-01-24 Ethicon Endo-Surgery, Inc. Retaining pin lever advancement mechanism for a curved cutter stapler
US20060020258A1 (en) 2004-07-20 2006-01-26 Medtronic, Inc. Surgical apparatus with a manually actuatable assembly and a method of operating same
US20060020247A1 (en) 2002-11-01 2006-01-26 Jonathan Kagan Devices and methods for attaching an endolumenal gastrointestinal implant
US20060020336A1 (en) 2001-10-23 2006-01-26 Liddicoat John R Automated annular plication for mitral valve repair
CA2514274A1 (en) 2004-07-28 2006-01-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
CA2512960A1 (en) 2004-07-28 2006-01-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating electroactive polymer actuator blocking lockout mechanism
US6990796B2 (en) 2001-12-28 2006-01-31 The Schnipke Family Limited Liability Company Robotic loader for surgical stapling cartridge
EP1621141A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
EP1621139A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument
EP1621145A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20060025812A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated pivoting articulation mechanism
US20060025811A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
US7001408B2 (en) 2002-09-20 2006-02-21 Ethicon Endo-Surgery,Inc. Surgical device with expandable member
US7001380B2 (en) 1999-01-15 2006-02-21 Gyrus Medical Limited Electrosurgical system and method
US7000819B2 (en) 2003-09-29 2006-02-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing incorporating a traction-biased ratcheting mechanism
US20060041188A1 (en) 2003-03-25 2006-02-23 Dirusso Carlo A Flexible endoscope
US20060047307A1 (en) 2004-07-28 2006-03-02 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for circular stapler
US20060047303A1 (en) 2004-07-28 2006-03-02 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for grasper
WO2006023486A1 (en) 2004-08-19 2006-03-02 Tyco Healthcare Group, Lp Water-swellable copolymers and articles and coating made therefrom
US20060052825A1 (en) 2003-06-16 2006-03-09 Ransick Mark H Surgical implant alloy
WO2006027014A1 (en) 2004-09-10 2006-03-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20060060630A1 (en) 2004-07-28 2006-03-23 Shelton Frederick E Iv Multiple firing stroke surgical instrument incorporating electroactive polymer anti-backup mechanism
US20060064086A1 (en) 2003-03-13 2006-03-23 Darren Odom Bipolar forceps with multiple electrode array end effector assembly
US7018390B2 (en) 1999-11-12 2006-03-28 Edwards Lifesciences Corporation Medical device introducer and obturator
US7025743B2 (en) 1998-08-18 2006-04-11 Medtronic Minimed, Inc. External infusion device with remote programming, bolus estimator and/or vibration alarm capabilities
US7029435B2 (en) 2003-10-16 2006-04-18 Granit Medical Innovation, Llc Endoscope having multiple working segments
US20060085031A1 (en) 2004-10-18 2006-04-20 Michael Bettuchi Extraluminal sealant applicator and method
US20060085033A1 (en) 2004-10-18 2006-04-20 Criscuolo Christopher J Surgical apparatus and structure for applying sprayable wound treatment material
US7033356B2 (en) 2002-07-02 2006-04-25 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting desiccating and sealing tissue
US7032799B2 (en) 2001-10-05 2006-04-25 Tyco Healthcare Group Lp Surgical stapling apparatus and method
WO2006044490A2 (en) 2004-10-18 2006-04-27 Tyco Healthcare Group, Lp Annular adhesive structure
US20060086032A1 (en) 2004-10-27 2006-04-27 Joseph Valencic Weapon and input device to record information
WO2006044810A2 (en) 2004-10-18 2006-04-27 Tyco Healthcare Group, Lp Surgical fasteners coated with wound treatment materials
WO2006044581A2 (en) 2004-10-13 2006-04-27 Medtronic, Inc. Single-use transurethral needle ablation device
US7037344B2 (en) 2002-11-01 2006-05-02 Valentx, Inc. Apparatus and methods for treatment of morbid obesity
US7036680B1 (en) 2004-04-07 2006-05-02 Avery Dennison Corporation Device for dispensing plastic fasteners
EP1082944B1 (en) 1995-06-23 2006-05-03 Gyrus Medical Limited An electrosurgical generator and system
WO2006051252A1 (en) 2004-11-12 2006-05-18 Gyrus Medical Limited Electrosurgical generator and system
US7048687B1 (en) 1999-04-14 2006-05-23 Ob Scientific, Inc. Limited use medical probe
US20060111723A1 (en) 2002-09-26 2006-05-25 Chapolini Robert J Orthopedic medical device with unitary components
US20060108393A1 (en) 2004-10-18 2006-05-25 Russell Heinrich Structure for applying sprayable wound treatment material
US7056330B2 (en) 2002-05-31 2006-06-06 Ethicon Endo-Surgery, Inc. Method for applying tissue fastener
US20060122636A1 (en) 2004-10-06 2006-06-08 Sofradim Production Appliance for storing, distributing and placing surgical fasteners
WO2006059067A1 (en) 2004-12-03 2006-06-08 Gyrus Medical Limited An electrosurgical generator
US7059508B2 (en) 2004-06-30 2006-06-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
US7063712B2 (en) 2001-04-27 2006-06-20 Cardica, Inc. Anastomosis method
US7066879B2 (en) 2003-07-15 2006-06-27 The Trustees Of Columbia University In The City Of New York Insertable device and system for minimal access procedure
US20060142772A1 (en) 2004-12-29 2006-06-29 Ralph James D Surgical fasteners and related implant devices having bioabsorbable components
US7071287B2 (en) 2002-07-22 2006-07-04 Aspen Aerogels, Inc. Aerogel metallic compositions
US20060149163A1 (en) 2004-12-29 2006-07-06 Hibner John A Core sampling biopsy device with short coupled MRI-compatible driver
US7075770B1 (en) 1999-09-17 2006-07-11 Taser International, Inc. Less lethal weapons and methods for halting locomotion
US20060161185A1 (en) 2005-01-14 2006-07-20 Usgi Medical Inc. Methods and apparatus for transmitting force to an end effector over an elongate member
US7081114B2 (en) 2000-11-29 2006-07-25 St. Jude Medical, Atrial Fibrillation Division, Inc. Electrophysiology/ablation catheter having lariat configuration of variable radius
US7080769B2 (en) 2001-04-02 2006-07-25 Vresh Susan E Luminal anastomotic device
US7083615B2 (en) 2003-02-24 2006-08-01 Intuitive Surgical Inc Surgical tool having electrocautery energy supply conductor with inhibited current leakage
US7083075B2 (en) 2003-09-29 2006-08-01 Ethicon Endo-Surgery, Inc. Multi-stroke mechanism with automatic end of stroke retraction
US7083073B2 (en) 2001-11-29 2006-08-01 Max Co., Ltd. Electric stapler
US20060173470A1 (en) 2005-01-31 2006-08-03 Oray B N Surgical fastener buttress material
US7090673B2 (en) 2001-04-06 2006-08-15 Sherwood Services Ag Vessel sealer and divider
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
US7090637B2 (en) 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7094247B2 (en) 2002-07-22 2006-08-22 Niti Medical Technologies Ltd. Intussusception and anastomosis apparatus
US7094202B2 (en) 2003-09-29 2006-08-22 Ethicon Endo-Surgery, Inc. Method of operating an endoscopic device with one hand
US7097089B2 (en) 2004-02-17 2006-08-29 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US7098794B2 (en) 2004-04-30 2006-08-29 Kimberly-Clark Worldwide, Inc. Deactivating a data tag for user privacy or tamper-evident packaging
EP1400214B1 (en) 2002-09-18 2006-09-06 Ethicon Endo-Surgery Endoscopic ablation system with a distally mounted image sensor
US20060200123A1 (en) 2005-03-04 2006-09-07 Gyrus Ent, L.L.C. Surgical instrument and method
WO2006092563A1 (en) 2005-03-04 2006-09-08 Gyrus Ent, L.L.C. Surgical instrument and method
US7104741B2 (en) 2002-01-29 2006-09-12 Joh. Friedrich Behrens Ag Fastening means and process for its manufacture
US7108695B2 (en) 1999-05-26 2006-09-19 Ethicon Endo-Surgery, Inc. Feedback control in an ultrasonic surgical instrument for improved tissue effects
US7108701B2 (en) 2001-09-28 2006-09-19 Ethicon, Inc. Drug releasing anastomosis devices and methods for treating anastomotic sites
US20060212069A1 (en) 2005-03-17 2006-09-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
US7111769B2 (en) 2003-07-09 2006-09-26 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an articulation mechanism having rotation about the longitudinal axis
US7112214B2 (en) 2002-06-25 2006-09-26 Incisive Surgical, Inc. Dynamic bioabsorbable fastener for use in wound closure
US20060217729A1 (en) 2005-03-09 2006-09-28 Brasseler Usa Medical Llc Surgical apparatus and tools for same
US7118582B1 (en) 1996-02-20 2006-10-10 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US20060226196A1 (en) 2005-02-18 2006-10-12 Ethicon Endo-Surgery, Inc. Surgical instrument with guided laterally moving articulation member
US7122028B2 (en) 2001-12-19 2006-10-17 Allegiance Corporation Reconfiguration surgical apparatus
US7121446B2 (en) 2004-12-13 2006-10-17 Niti Medical Technologies Ltd. Palm-size surgical stapler for single hand operation
JP2006281405A (en) 2005-04-04 2006-10-19 Hitachi Koki Co Ltd Cordless power tool
US7128254B2 (en) 2004-09-07 2006-10-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing mechanism having a rotary slip-clutch transmission
US20060244460A1 (en) 2005-04-29 2006-11-02 Weaver Jeffrey S System and method for battery management
WO2006115958A1 (en) 2005-04-28 2006-11-02 Warsaw Orthopedic, Inc. Method and apparatus for surgical instrument identification
US7131445B2 (en) 2002-12-23 2006-11-07 Gyrus Medical Limited Electrosurgical method and apparatus
US7133601B2 (en) 2003-02-18 2006-11-07 Black & Decker Inc. Amperage control for protection of battery over current in power tools
GB2425903A (en) 2005-05-02 2006-11-08 Bosch Gmbh Robert Electric power tool controller avoids exhaustive discharge of battery
EP1721568A1 (en) 2004-03-02 2006-11-15 Olympus Corporation Endoscope
US20060258904A1 (en) 2005-05-13 2006-11-16 David Stefanchik Feeding tube and track
US20060259073A1 (en) 2004-03-10 2006-11-16 Manabu Miyamoto Surgical instrument
US20060264929A1 (en) 2001-12-27 2006-11-23 Gyrus Group Plc Surgical system
US7140528B2 (en) 2003-05-20 2006-11-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
US20060271042A1 (en) 2005-05-26 2006-11-30 Gyrus Medical, Inc. Cutting and coagulating electrosurgical forceps having cam controlled jaw closure
US20060271102A1 (en) 2005-05-25 2006-11-30 Gyrus Medical, Inc. Surgical instrument construction
US7143925B2 (en) 2004-07-28 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
US7143926B2 (en) 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US7143924B2 (en) 2004-02-17 2006-12-05 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
EP1728475A2 (en) 2005-06-03 2006-12-06 Tyco Healthcare Group Lp Surgical instruments employing sensors
EP1728473A1 (en) 2005-06-02 2006-12-06 Tyco Healthcare Group Lp Expandable backspan staple
US7147139B2 (en) 2003-12-30 2006-12-12 Ethicon Endo-Surgery, Inc Closure plate lockout for a curved cutter stapler
EP1285633B1 (en) 2001-08-07 2006-12-13 Universitair Medisch Centrum Utrecht Device for connecting a surgical instrument to a stable basis
US20060278680A1 (en) 2005-06-03 2006-12-14 Viola Frank J Surgical stapler with timer and feedback display
US20060278681A1 (en) 2005-06-03 2006-12-14 Viola Frank J Battery powered surgical instrument
US20060289602A1 (en) 2005-06-23 2006-12-28 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with double pivot closure and single pivot frame ground
US7156863B2 (en) 2000-03-16 2007-01-02 Medigus Ltd. Fundoplication apparatus and method
WO2007002180A2 (en) 2005-06-28 2007-01-04 Stryker Corporation Powered surgical tool with control module that contains a sensor for remotely monitoring the tool power generating unit
US7160299B2 (en) 2003-05-01 2007-01-09 Sherwood Services Ag Method of fusing biomaterials with radiofrequency energy
US7161036B2 (en) 2003-12-22 2007-01-09 Sumitomo Chemical Company, Limited Process for producing oxime
US7168604B2 (en) 2003-06-20 2007-01-30 Tyco Healthcare Group Lp Surgical stapling device
US20070023477A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device
US20070027469A1 (en) 2005-07-26 2007-02-01 Kms Medical Llc Surgical stapling and cutting device and method for using the device
US20070023476A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device
US20070027468A1 (en) 2005-08-01 2007-02-01 Wales Kenneth S Surgical instrument with an articulating shaft locking mechanism
US7172104B2 (en) 2004-02-17 2007-02-06 Tyco Healthcare Group Lp Surgical stapling apparatus
WO2007018898A2 (en) 2005-07-20 2007-02-15 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US20070034668A1 (en) 2005-08-15 2007-02-15 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7179267B2 (en) 2000-03-06 2007-02-20 Tyco Healthcare Group Lp Apparatus and method for performing a bypass procedure in a digestive system
US7179223B2 (en) 2002-08-06 2007-02-20 Olympus Optical Co., Ltd. Endoscope apparatus having an internal channel
US7182239B1 (en) 2004-08-27 2007-02-27 Myers Stephan R Segmented introducer device for a circular surgical stapler
EP1759812A1 (en) 2005-08-31 2007-03-07 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070055219A1 (en) 1999-06-02 2007-03-08 Whitman Michael P Shaft, e.g., for an electro-mechanical surgical device
US7195627B2 (en) 2003-01-09 2007-03-27 Gyrus Medical Limited Electrosurgical generator
EP1767163A1 (en) 2005-09-22 2007-03-28 Sherwood Services AG Bipolar forceps with multiple electrode array end effector assembly
US20070070574A1 (en) 2005-09-13 2007-03-29 Nerheim Magne H Systems and Methods for Modular Electronic Weaponry
US20070078484A1 (en) 2005-10-03 2007-04-05 Joseph Talarico Gentle touch surgical instrument and method of using same
US20070083193A1 (en) 2005-08-22 2007-04-12 Werneth Randell L User interface for tissue ablation system
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US7207472B2 (en) 2003-12-30 2007-04-24 Ethicon Endo-Surgery, Inc. Cartridge with locking knife for a curved cutter stapler
US7207233B2 (en) 2001-12-13 2007-04-24 Black & Decker Inc. Mechanism for use in a power tool and a power tool including such a mechanism
US7208005B2 (en) 2001-08-06 2007-04-24 The Penn State Research Foundation Multifunctional tool and method for minimally invasive surgery
US7210609B2 (en) 2004-07-30 2007-05-01 Tools For Surgery, Llc Stapling apparatus having a curved anvil and driver
EP1780825A1 (en) 2005-10-31 2007-05-02 Black & Decker, Inc. Battery pack and internal component arrangement within the battery pack for cordless power tool system
US7214224B2 (en) 2002-09-18 2007-05-08 Gyrus Medical Limited Electrosurgical system
US20070106113A1 (en) 2005-11-07 2007-05-10 Biagio Ravo Combination endoscopic operative delivery system
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US20070102472A1 (en) 2005-11-04 2007-05-10 Ethicon Endo-Surgery, Inc. Electrosurgical stapling instrument with disposable severing / stapling unit
US7220260B2 (en) 2002-06-27 2007-05-22 Gyrus Medical Limited Electrosurgical system
US20070114261A1 (en) 2005-11-23 2007-05-24 Ethicon Endo-Surgery, Inc. Surgical stapler with a bendable end effector
US20070118175A1 (en) 2002-08-08 2007-05-24 John Butler Device
US7225963B2 (en) 2004-02-17 2007-06-05 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US20070129605A1 (en) 2004-02-05 2007-06-07 Polydiagnost Gmbh Endoscope comprising a flexible probe
US20070135803A1 (en) 2005-09-14 2007-06-14 Amir Belson Methods and apparatus for performing transluminal and other procedures
DE202007003114U1 (en) 2006-06-13 2007-06-21 Olympus Winter & Ibe Gmbh Medical forceps has a removable tool that fits into a retaining sleeve that has a snap action element that prevents rotation
US7235089B1 (en) 1994-12-07 2007-06-26 Boston Scientific Corporation Surgical apparatus and method
US7235302B2 (en) 2001-05-21 2007-06-26 3M Innovative Properties Company Fluoropolymer bonding composition and method
EP1800610A1 (en) 2005-12-23 2007-06-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a mult-stroke firing mechanism with a flexible rack
US7241288B2 (en) 2003-04-01 2007-07-10 Marcus Braun Surgical instrument
US20070158358A1 (en) 2003-12-12 2007-07-12 Automated Merchandising Systems Inc. Adjustable storage rack for a vending machine
US7246734B2 (en) 2005-12-05 2007-07-24 Ethicon Endo-Surgery, Inc. Rotary hydraulic pump actuated multi-stroke surgical instrument
US20070173813A1 (en) 2006-01-24 2007-07-26 Sherwood Services Ag System and method for tissue sealing
US20070173806A1 (en) 2006-01-24 2007-07-26 Sherwood Services Ag System and method for closed loop monitoring of monopolar electrosurgical apparatus
US20070170225A1 (en) 2005-11-10 2007-07-26 Ethicon Endo-Surgery, Inc. Disposable loading unit and surgical instruments including same
EP1813202A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Gearing selector for a powered surgical cutting and fastening instrument
EP1813203A2 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
EP1813201A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
EP1813199A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
EP1813207A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
EP1813209A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular and effector system therefor
US20070175955A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical cutting and fastening instrument with closure trigger locking mechanism
US7252660B2 (en) 2001-09-25 2007-08-07 Reiner Kunz Multifunctional instrument for use in microinvasive surgery
CN101011286A (en) 2006-01-31 2007-08-08 伊西康内外科公司 Motor-driven surgical cutting and fastening instrument with tactile position feedback
US20070181632A1 (en) 2004-03-19 2007-08-09 Tyco Healthcare Group Lp Anvil assembly with improved cut ring
US7255696B2 (en) 2004-11-24 2007-08-14 Gyrus Group Plc Electrosurgical instrument
US7260431B2 (en) 2004-05-20 2007-08-21 Cardiac Pacemakers, Inc. Combined remodeling control therapy and anti-remodeling therapy by implantable cardiac device
US20070194079A1 (en) 2005-08-31 2007-08-23 Hueil Joseph C Surgical stapling device with staple drivers of different height
WO2007098220A2 (en) 2006-02-20 2007-08-30 Black & Decker Inc. Dc motor with dual commutator bar set and selectable series and parallel connected coils
US20070203510A1 (en) 2006-02-28 2007-08-30 Bettuchi Michael J Annular disk for reduction of anastomotic tension and methods of using the same
US7265374B2 (en) 2005-06-10 2007-09-04 Arima Computer Corporation Light emitting semiconductor device
US7267679B2 (en) 1999-09-13 2007-09-11 Rex Medical, L.P Vascular hole closure device
US7273483B2 (en) 2000-10-20 2007-09-25 Ethicon Endo-Surgery, Inc. Apparatus and method for alerting generator functions in an ultrasonic surgical system
US20070221701A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with mimicking end effector
US20070221700A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Methods and devices for controlling articulation
US7278994B2 (en) 1997-07-18 2007-10-09 Gyrus Medical Limited Electrosurgical instrument
US7278563B1 (en) 2006-04-25 2007-10-09 Green David T Surgical instrument for progressively stapling and incising tissue
US20070239028A1 (en) 2006-03-29 2007-10-11 Ethicon Endo-Surgery, Inc. Ultrasonic surgical system and method
US20070246505A1 (en) 2006-04-24 2007-10-25 Medical Ventures Inc. Surgical buttress assemblies and methods of uses thereof
US20070260278A1 (en) 2006-05-03 2007-11-08 Raptor Ridge, Llc Systems and methods of tissue closure
US7295907B2 (en) 2005-06-14 2007-11-13 Trw Automotive U.S. Llc Recovery of calibrated center steering position after loss of battery power
US7297149B2 (en) 2005-04-14 2007-11-20 Ethicon Endo-Surgery, Inc. Surgical clip applier methods
EP1857057A2 (en) 2006-05-18 2007-11-21 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US20070270884A1 (en) 2006-05-19 2007-11-22 Ethicon Endo-Surgery, Inc. Electrical surgical instrument with optimized power supply and drive
WO2007137304A2 (en) 2006-05-19 2007-11-29 Ethicon Endo-Surgery, Inc. Electrical surgical instrument
US7303106B2 (en) 2002-10-04 2007-12-04 Tyco Healthcare Group Lp Surgical stapling device with visual indicator
US7303556B2 (en) 2000-10-04 2007-12-04 Synthes Device for supplying an electro-pen with electrical energy
WO2007139734A2 (en) 2006-05-23 2007-12-06 Cambridge Endoscopic Devices, Inc. Surgical instrument
US20070288044A1 (en) 2006-05-12 2007-12-13 Terumo Kabushiki Kaisha Manipulator
WO2007142625A2 (en) 2006-06-02 2007-12-13 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
EP1402821B1 (en) 2002-09-30 2007-12-19 DePuy Spine, Inc. Device for advancing a functional element through tissue
WO2007147439A1 (en) 2006-06-21 2007-12-27 Rudolf Steffen Device for introducing and positioning surgical instruments and corresponding method
US20070299427A1 (en) 2006-06-14 2007-12-27 Yeung Benny H B Surgical manipulator
EP1872727A1 (en) 2006-06-27 2008-01-02 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US20080015598A1 (en) 2006-07-11 2008-01-17 Megan Prommersberger Novel skin staples
US7322975B2 (en) 2004-11-24 2008-01-29 Gyrus Group Plc Electrosurgical instrument
US7324572B2 (en) 2004-01-14 2008-01-29 Asia Optical Co., Inc. Laser driver circuit for burst mode transmission and fabrication method thereof
US20080030170A1 (en) 2006-08-03 2008-02-07 Bruno Dacquay Safety charging system for surgical hand piece
US20080029570A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with improved volume storage
US20080029574A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with actuator at distal end
US7328829B2 (en) 2004-12-13 2008-02-12 Niti Medical Technologies Ltd. Palm size surgical stapler for single hand operation
US7328828B2 (en) 2005-11-04 2008-02-12 Ethicon Endo-Surgery, Inc, Lockout mechanisms and surgical instruments including same
US7330004B2 (en) 2005-06-06 2008-02-12 Lutron Electronics Co., Inc. Method and apparatus for quiet variable motor speed control
US20080035701A1 (en) 2003-06-17 2008-02-14 Racenet David C Surgical stapling device
WO2008021969A2 (en) 2006-08-09 2008-02-21 Coherex Medical, Inc. Methods, systems and devices for reducing the size of an internal tissue opening
US7334717B2 (en) 2001-10-05 2008-02-26 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US7336184B2 (en) 2004-09-24 2008-02-26 Intel Corporation Inertially controlled switch and RFID tag
US7338513B2 (en) 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
EP1897502A1 (en) 2006-09-11 2008-03-12 Tyco Healthcare Group Lp Rotating knob locking mechanism for surgical stapling device
US7343920B2 (en) 2002-12-20 2008-03-18 Toby E Bruce Connective tissue repair system
US7348763B1 (en) 2002-12-20 2008-03-25 Linvatec Corporation Method for utilizing temperature to determine a battery state
US7351258B2 (en) 2001-04-20 2008-04-01 The Research Foundation Of State University Of New York At Stony Brook Apparatus and method for fixation of vascular grafts
US20080078800A1 (en) 2006-09-29 2008-04-03 Hess Christopher J Surgical stapling instruments and staples
US20080082114A1 (en) 2006-09-29 2008-04-03 Mckenna Robert H Adhesive Mechanical Fastener for Lumen Creation Utilizing Tissue Necrosing Means
US20080083813A1 (en) 2006-10-05 2008-04-10 Michael Zemlok Method and force-limiting handle mechanism for a surgical instrument
US7357287B2 (en) 2005-09-29 2008-04-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having preloaded firing assistance mechanism
WO2008045383A2 (en) 2006-10-06 2008-04-17 Tyco Healthcare Group Lp Surgical instrument having a multi-layered drive beam
US7364061B2 (en) 2003-09-29 2008-04-29 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing position indicator and retraction mechanism
US7364060B2 (en) 2003-10-17 2008-04-29 Tyco Healthcare Group Lp Surgical stapling device with tiltable anvil head
US20080114385A1 (en) 2006-11-10 2008-05-15 Byrum Randal T Method and Device for Effecting Anastomosis of Hollow Organ Structures Using Adhesive and Fasteners
US7377928B2 (en) 2002-04-15 2008-05-27 Cook Biotech Incorporated Apparatus and method for producing a reinforced surgical staple line
US7380695B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US20080129253A1 (en) 2006-11-03 2008-06-05 Advanced Desalination Inc. Battery energy reclamation apparatus and method thereby
WO2008070763A1 (en) 2006-12-06 2008-06-12 Ethicon Endo-Surgery, Inc Safety fastener for tissue apposition
US20080140115A1 (en) 2004-08-17 2008-06-12 Stopek Joshua B Stapling Support Structures
US7388217B2 (en) 2004-03-15 2008-06-17 Ims Nanofabrication Gmbh Particle-optical projection system
US7397364B2 (en) 2003-11-11 2008-07-08 Biosense Webster, Inc. Digital wireless position sensor
US20080167522A1 (en) 2007-01-10 2008-07-10 Giordano James R Surgical instrument with wireless communication between control unit and sensor transponders
US20080167672A1 (en) 2007-01-10 2008-07-10 Giordano James R Surgical instrument with wireless communication between control unit and remote sensor
US7398908B2 (en) 2005-08-15 2008-07-15 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
EP1943976A2 (en) 2007-01-10 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical instrument with enhaqnced battery performance
EP1943964A1 (en) 2007-01-11 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical stapling device having supports for a flexible drive mechanism
US20080169328A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Buttress material for use with a surgical stapler
US20080172087A1 (en) 2000-06-28 2008-07-17 Alexander Von Fuchs Anti-slip protection device for a housing head of medical instruments
US20080172088A1 (en) 2007-01-12 2008-07-17 Ethicon Endo-Surgery, Inc. Adjustable Compression Staple and Method for Stapling with Adjustable Compression
WO2008089404A2 (en) 2007-01-19 2008-07-24 Synovis Life Technologies, Inc. Circular stapler anvil introducer
US7404509B2 (en) 2004-07-28 2008-07-29 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for linear stapler
US20080183193A1 (en) 2006-10-25 2008-07-31 Terumo Kabushiki Kaisha Manipulator for medical use
US7407078B2 (en) 2005-09-21 2008-08-05 Ehthicon Endo-Surgery, Inc. Surgical stapling instrument having force controlled spacing end effector
US20080185419A1 (en) 2006-05-19 2008-08-07 Smith Kevin W Electrically Self-Powered Surgical Instrument With Cryptographic Identification of Interchangeable Part
EP1593337B1 (en) 2003-02-11 2008-08-13 Olympus Corporation Overtube
US20080200835A1 (en) 2006-06-30 2008-08-21 Monson Gavin M Energy Biopsy Device for Tissue Penetration and Hemostasis
US7416101B2 (en) 2006-01-31 2008-08-26 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
US7418078B2 (en) 2005-05-06 2008-08-26 Siemens Medical Solutions Usa, Inc. Spot-size effect reduction
US7422136B1 (en) 2007-03-15 2008-09-09 Tyco Healthcare Group Lp Powered surgical stapling device
WO2008109125A1 (en) 2007-03-06 2008-09-12 Tyco Healthcare Group Lp Surgical stapling apparatus
US7431694B2 (en) 2003-05-16 2008-10-07 Ethicon Endo-Surgery, Inc. Method of guiding medical devices
US7431188B1 (en) 2007-03-15 2008-10-07 Tyco Healthcare Group Lp Surgical stapling apparatus with powered articulation
US7434715B2 (en) 2003-09-29 2008-10-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing with opening lockout
EP1980213A2 (en) 2007-04-13 2008-10-15 Tyco Healthcare Group, LP Powered surgical instrument
WO2008124748A1 (en) 2007-04-09 2008-10-16 Adrian Edward Park Frame device
US20080255413A1 (en) 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
US7439354B2 (en) 2003-12-11 2008-10-21 E.I. Du Pont De Nemours And Company Process for preparing amide acetals
US7438209B1 (en) 2007-03-15 2008-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having a releasable staple-forming pocket
US20080262654A1 (en) 2006-10-25 2008-10-23 Terumo Kabushiki Kaisha Manipulator system
US7441685B1 (en) 2007-06-22 2008-10-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a return mechanism
EP1759645B1 (en) 2005-09-06 2008-11-05 Tyco Healthcare Group Lp Instrument introducer
EP1990014A2 (en) 2007-05-10 2008-11-12 Tyco Healthcare Group LP Powered tacker instrument
US20080287944A1 (en) 2001-09-28 2008-11-20 Angiodynamics, Inc. Tissue ablation apparatus and method
US20080283570A1 (en) 2007-05-16 2008-11-20 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Gentle touch surgical stapler
US7455208B2 (en) 2005-02-18 2008-11-25 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with rigid firing bar supports
US20080290134A1 (en) 2007-05-25 2008-11-27 Michael Bettuchi Staple buttress retention system
US20080296346A1 (en) 2007-05-31 2008-12-04 Shelton Iv Frederick E Pneumatically powered surgical cutting and fastening instrument with electrical control and recording mechanisms
EP2000102A2 (en) 2007-06-04 2008-12-10 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US7464846B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a removable battery
US7464849B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Electro-mechanical surgical instrument with closure system and anvil alignment components
US20080308602A1 (en) 2007-06-18 2008-12-18 Timm Richard W Surgical stapling and cutting instruments
US20080308608A1 (en) 2007-06-18 2008-12-18 Prommersberger Megan L Interlocking buttress material retention system
US7467740B2 (en) 2005-09-21 2008-12-23 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having flexible channel and anvil features for adjustable staple heights
US7467849B2 (en) 2004-01-21 2008-12-23 Silverbrook Research Pty Ltd Printhead incorporating a static pagewidth printhead
US20080314960A1 (en) 2007-06-22 2008-12-25 Stanislaw Marczyk Detachable buttress material retention systems for use with a surgical stapling device
EP2008595A2 (en) 2007-06-27 2008-12-31 Tyco Healthcare Group LP Buttress and surgical stapling apparatus
US7473253B2 (en) 2001-04-06 2009-01-06 Covidien Ag Vessel sealer and divider with non-conductive stop members
US20090012556A1 (en) 2007-03-28 2009-01-08 Boudreaux Chad P Laparoscopic tissue thickness and clamp load measuring devices
US7479608B2 (en) 2006-05-19 2009-01-20 Ethicon Endo-Surgery, Inc. Force switch
US20090020958A1 (en) 2006-03-31 2009-01-22 Soul David F Methods and apparatus for operating an internal combustion engine
US7481824B2 (en) 2005-12-30 2009-01-27 Ethicon Endo-Surgery, Inc. Surgical instrument with bending articulation controlled articulation pivot joint
US7485133B2 (en) 2004-07-14 2009-02-03 Warsaw Orthopedic, Inc. Force diffusion spinal hook
US7490749B2 (en) 2007-03-28 2009-02-17 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with manually retractable firing member
US7494499B2 (en) 2002-02-15 2009-02-24 Olympus Corporation Surgical therapeutic instrument
US20090054908A1 (en) 2005-04-15 2009-02-26 Jason Matthew Zand Surgical instruments with sensors for detecting tissue properties, and system using such instruments
EP1749486B1 (en) 2005-08-05 2009-03-04 Ethicon Endo-Surgery, Inc. Swing gate for device lockout in a curved cutter stapler
US20090057369A1 (en) 2005-07-26 2009-03-05 Smith Kevin W Electrically Self-Powered Surgical Instrument With Manual Release
US7500979B2 (en) 2005-08-31 2009-03-10 Ethicon Endo-Surgery, Inc. Surgical stapling device with multiple stacked actuator wedge cams for driving staple drivers
US7501198B2 (en) 2002-02-07 2009-03-10 Linvatec Corporation Sterile transfer battery container
EP1736104B1 (en) 2005-06-23 2009-03-11 Ethicon Endo-Surgery, Inc. Surgical instrument having fluid actuated opposing jaws
EP2039316A2 (en) 2007-09-24 2009-03-25 Tyco Healthcare Group LP Insertion shroud for surgical instrument
US20090078736A1 (en) 2004-07-26 2009-03-26 Van Lue Stephen J Surgical stapler with magnetically secured components
US20090088774A1 (en) 2007-09-30 2009-04-02 Nitish Swarup Apparatus and method of user interface with alternate tool mode for robotic surgical tools
EP2044890A1 (en) 2007-10-05 2009-04-08 Tyco Healthcare Group LP Powered surgical stapling device
EP1721576B1 (en) 2005-05-09 2009-04-08 Robert A. Van Wyk Apparatus and kit for thermal suture cutting
US20090093728A1 (en) 2007-10-05 2009-04-09 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Vasculature and lymphatic system imaging and ablation associated with a reservoir
US20090112229A1 (en) 2007-10-31 2009-04-30 Terumo Kabushiki Kaisha Manipulator for medical use
US20090108048A1 (en) 2007-10-31 2009-04-30 Tyco Healthcare Group Lp Powered surgical instrument
US20090114701A1 (en) 2007-11-06 2009-05-07 Tyco Healthcare Group Lp Coated Surgical Staples and an Illuminated Staple Cartridge for a Surgical Stapling Instrument
US7530985B2 (en) 2002-01-30 2009-05-12 Olympus Corporation Endoscopic suturing system
US20090143805A1 (en) 2007-12-03 2009-06-04 Palmer Matthew A Cordless Hand-Held Ultrasonic Cautery Cutting Device
US20090157067A1 (en) 2007-12-17 2009-06-18 Thermage, Inc. Method and apparatus for digital signal processing for radio frequency surgery measurements
US7549564B2 (en) 2007-06-22 2009-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulating end effector
US7549563B2 (en) 2003-12-30 2009-06-23 Ethicon Endo-Surgery, Inc. Rotating curved cutter stapler
US7552854B2 (en) 2006-05-19 2009-06-30 Applied Medical Resources Corporation Surgical stapler with firing lock mechanism
US7556185B2 (en) 2007-08-15 2009-07-07 Tyco Healthcare Group Lp Surgical instrument with flexible drive mechanism
US7563862B2 (en) 2001-08-24 2009-07-21 Neuren Pharmaceuticals Limited Neural regeneration peptides and methods for their use in treatment of brain damage
US7566300B2 (en) 2004-04-15 2009-07-28 Wilson-Cook Medical, Inc. Endoscopic surgical access devices and methods of articulating an external accessory channel
US7568603B2 (en) 2006-01-31 2009-08-04 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with articulatable end effector
US7568619B2 (en) 2004-12-15 2009-08-04 Alcon, Inc. System and method for identifying and controlling ophthalmic surgical devices and components
US7575144B2 (en) 2006-01-31 2009-08-18 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with single cable actuator
EP2090256A2 (en) 2008-02-14 2009-08-19 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
EP2090237A1 (en) 2008-02-15 2009-08-19 Ethicon Endo-Surgery, Inc. Buttress material for a surgical instrument
EP2090245A1 (en) 2008-02-15 2009-08-19 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US20090206137A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Disposable loading units for a surgical cutting and stapling instrument
US20090209946A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
US20090206133A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Articulatable loading units for surgical stapling and cutting instruments
US20090206132A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Feedback and lockout mechanism for surgical instrument
US20090209979A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Motorized cutting and fastening instrument having control circuit for optimizing battery usage
US20090209990A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
EP1745748B1 (en) 2005-07-19 2009-08-26 Ethicon Endo-Surgery, Inc. Surgical instrument with laterally moved shaft actuator coupled to pivoting articulation joint
US20090213685A1 (en) 2005-08-17 2009-08-27 Bsh Bosch Und Siemens Haugerate Gmbh Electric-Motor Kitchen Appliance Comprising an Electric or Electronic Control
EP2095777A2 (en) 2008-02-28 2009-09-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20090218384A1 (en) 2007-06-18 2009-09-03 Ernie Aranyi Structure for attachment of buttress material to anvils and cartridges of surgical staplers
US20090242610A1 (en) 2008-03-26 2009-10-01 Shelton Iv Frederick E Disposable loading unit and surgical instruments including same
US7597229B2 (en) 2007-06-22 2009-10-06 Ethicon Endo-Surgery, Inc. End effector closure system for a surgical stapling instrument
US7600663B2 (en) 2007-07-05 2009-10-13 Green David T Apparatus for stapling and incising tissue
US20090255975A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US20090255978A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US20090255976A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US20090255974A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Single loop surgical fastener apparatus for applying variable compression
US20090255977A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener apparatus
US7604150B2 (en) 2007-06-22 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an anti-back up mechanism
US7607557B2 (en) 2005-11-04 2009-10-27 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for pump-assisted delivery of medical agents
US7615003B2 (en) 2005-05-13 2009-11-10 Ethicon Endo-Surgery, Inc. Track for medical devices
EP2116195A1 (en) 2008-05-09 2009-11-11 Tyco Healthcare Group LP Varying tissue compression using take-up component
EP1813208B1 (en) 2006-01-31 2009-11-11 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US7624902B2 (en) 2007-08-31 2009-12-01 Tyco Healthcare Group Lp Surgical stapling apparatus
EP1607050B1 (en) 2004-06-14 2009-12-02 Ethicon Endo-Surgery, Inc. Clip ejector for endoscopic clip applier
US20090308907A1 (en) 2008-06-12 2009-12-17 Nalagatla Anil K Partially reusable surgical stapler
US7635074B2 (en) 2005-10-04 2009-12-22 Tyco Healthcare Group Lp Staple drive assembly
EP1815804B1 (en) 2006-02-02 2009-12-30 Tyco Healthcare Group Lp Mechanically tuned buttress material to assist with proper formation of surgical element in diseased tissue
US7651498B2 (en) 2003-03-09 2010-01-26 Edward G. Shifrin Sternal closure system, method and apparatus therefor
US20100023024A1 (en) 2008-07-25 2010-01-28 Zeiner Mark S Reloadable laparoscopic fastener deploying device with disposable cartridge for use in a gastric volume reduction procedure
US7656131B2 (en) 2005-10-31 2010-02-02 Black & Decker Inc. Methods of charging battery packs for cordless power tool systems
US7658311B2 (en) 2007-06-22 2010-02-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a geared return mechanism
US20100049084A1 (en) 2008-08-22 2010-02-25 Nock Andrew P Biopsy marker delivery device
US7670334B2 (en) 2006-01-10 2010-03-02 Ethicon Endo-Surgery, Inc. Surgical instrument having an articulating end effector
US7673780B2 (en) 2005-11-09 2010-03-09 Ethicon Endo-Surgery, Inc. Articulation joint with improved moment arm extension for articulating an end effector of a surgical instrument
US7673783B2 (en) 2005-11-04 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for delivery of medical agents
US20100069942A1 (en) 2008-09-18 2010-03-18 Ethicon Endo-Surgery, Inc. Surgical instrument with apparatus for measuring elapsed time between actions
US20100076475A1 (en) 2008-09-23 2010-03-25 Ethicon-Endo Surgery, Inc. Motorized surgical instrument
US7686826B2 (en) 2003-10-30 2010-03-30 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7688028B2 (en) 2004-10-18 2010-03-30 Black & Decker Inc. Cordless power system
US20100089970A1 (en) 2008-10-10 2010-04-15 Ethicon Endo-Surgery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US7699859B2 (en) 1999-07-28 2010-04-20 Cardica, Inc. Method of performing anastomosis
US7699204B2 (en) 2004-10-18 2010-04-20 Tyco Healthcare Group Lp Structure containing wound treatment material
US20100096431A1 (en) 2007-02-12 2010-04-22 Ethicon Endo-Surgery, Inc. Active braking electrical surgical iinstrument and method for braking such an instrument
EP1566150B1 (en) 2004-02-23 2010-04-28 Biosense Webster, Inc. Robotically guided catheter
US7708180B2 (en) 2006-11-09 2010-05-04 Ethicon Endo-Surgery, Inc. Surgical fastening device with initiator impregnation of a matrix or buttress to improve adhesive application
US7708758B2 (en) 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
US20100108741A1 (en) 2008-11-06 2010-05-06 Hessler Thomas R Surgical stapler
US20100108740A1 (en) 2006-07-07 2010-05-06 Alessandro Pastorelli Surgical stapling instrument
US7721931B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Prevention of cartridge reuse in a surgical instrument
US7721936B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US7721930B2 (en) 2006-11-10 2010-05-25 Thicon Endo-Surgery, Inc. Disposable cartridge with adhesive for use with a stapling device
US7722610B2 (en) 2005-06-02 2010-05-25 Tyco Healthcare Group Lp Multiple coil staple and staple applier
US20100133317A1 (en) 2006-09-29 2010-06-03 Shelton Iv Frederick E Motor-Driven Surgical Cutting And Fastening Instrument with Tactile Position Feedback
US20100145146A1 (en) 2005-12-28 2010-06-10 Envisionier Medical Technologies, Inc. Endoscopic digital recording system with removable screen and storage device
WO2010063795A1 (en) 2008-12-03 2010-06-10 Angiomed Gmbh & Co. Medizintechnik Kg Catheter sheath for implant delivery
US7738971B2 (en) 2007-01-10 2010-06-15 Ethicon Endo-Surgery, Inc. Post-sterilization programming of surgical instruments
EP1769754B1 (en) 2005-09-30 2010-06-16 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for linear surgical stapler
US20100147922A1 (en) 2008-12-16 2010-06-17 Tyco Healthcare Group Lp Surgical Apparatus Including Surgical Buttress
US7740159B2 (en) 2006-08-02 2010-06-22 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US20100163598A1 (en) 2008-12-23 2010-07-01 Belzer George E Shield for surgical stapler and method of use
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US7766821B2 (en) 2004-06-08 2010-08-03 Henke-Sass, Wolf Gmbh Bendable portion of an insertion tube of an endoscope and method of producing it
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
US7766210B2 (en) 2006-01-31 2010-08-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with user feedback system
US7766209B2 (en) 2008-02-13 2010-08-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US20100198220A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical instruments and components for use in sterile environments
US20100193566A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20100193567A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising an articulation joint
US20100193568A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
US20100193569A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Sterilizable surgical instrument
US7771396B2 (en) 2006-03-22 2010-08-10 Ethicon Endo-Surgery, Inc. Intubation device for enteral feeding
US7772720B2 (en) 2007-12-03 2010-08-10 Spx Corporation Supercapacitor and charger for secondary power
US7780685B2 (en) 2006-11-09 2010-08-24 Ethicon Endo-Surgery, Inc. Adhesive and mechanical fastener
US7780663B2 (en) 2006-09-22 2010-08-24 Ethicon Endo-Surgery, Inc. End effector coatings for electrosurgical instruments
US7780055B2 (en) 2005-04-06 2010-08-24 Tyco Healthcare Group Lp Loading unit having drive assembly locking mechanism
US20100213241A1 (en) 2008-09-19 2010-08-26 Ethicon Endo-Surgery, Inc. Staple cartridge
US7784662B2 (en) 2005-02-18 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with single pivot closure and double pivot frame ground
WO2010098871A2 (en) 2009-02-26 2010-09-02 Amir Belson Improved apparatus and methods for hybrid endoscopic and laparoscopic surgery
US7793812B2 (en) 2008-02-14 2010-09-14 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US7798386B2 (en) 2007-05-30 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument articulation joint cover
US7799039B2 (en) 2005-11-09 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US7803151B2 (en) 2001-12-04 2010-09-28 Power Medical Interventions, Llc System and method for calibrating a surgical instrument
US20100243707A1 (en) 2009-03-31 2010-09-30 Lee Olson Surgical stapling apparatus
US20100243708A1 (en) 2009-03-31 2010-09-30 Ernie Aranyi Surgical stapling apparatus
US7806891B2 (en) 1998-11-20 2010-10-05 Intuitive Surgical Operations, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US7810693B2 (en) 2007-05-30 2010-10-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with articulatable end effector
US7810692B2 (en) 2008-02-14 2010-10-12 Ethicon Endo-Surgery, Inc. Disposable loading unit with firing indicator
US7815092B2 (en) 2005-07-27 2010-10-19 Power Medical Interventions, Llc Staple pocket arrangement for surgical stapler
US7815565B2 (en) 2003-05-16 2010-10-19 Ethicon Endo-Surgery, Inc. Endcap for use with an endoscope
EP1702570B1 (en) 2005-03-15 2010-10-20 Tyco Healthcare Group LP Anastomosis composite gasket
US20100264193A1 (en) 2007-06-22 2010-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US7819296B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with retractable firing systems
US7819297B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with reprocessible handle assembly
US7819299B2 (en) 2007-06-04 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical instrument having a common trigger for actuating an end effector closing system and a staple firing system
US7824401B2 (en) 2004-10-08 2010-11-02 Intuitive Surgical Operations, Inc. Robotic tool with wristed monopolar electrosurgical end effectors
EP2030578B1 (en) 2007-08-29 2010-11-03 Tyco Healthcare Group LP Rotary knife cutting systems
US7828808B2 (en) 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US7828794B2 (en) 2005-08-25 2010-11-09 Covidien Ag Handheld electrosurgical apparatus for controlling operating room equipment
US7836400B2 (en) 2006-03-31 2010-11-16 Research In Motion Limited Snooze support for event reminders
US7832612B2 (en) 2008-09-19 2010-11-16 Ethicon Endo-Surgery, Inc. Lockout arrangement for a surgical stapler
US7832611B2 (en) 2007-05-16 2010-11-16 The Invention Science Fund I, Llc Steerable surgical stapler
US7837080B2 (en) 2008-09-18 2010-11-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with device for indicating when the instrument has cut through tissue
US20100294827A1 (en) 2007-05-16 2010-11-25 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Maneuverable surgical stapler
EP1627605B1 (en) 2004-07-28 2010-12-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medicament dispenser
US7846149B2 (en) 2002-04-15 2010-12-07 Tyco Healthcare Group Lp Instrument introducer
US20100312261A1 (en) 2007-11-30 2010-12-09 Sumitomo Bakelite Co., Ltd. Sheath for gastrostoma, sheathed dilator, sheath for gastrostoma with insertion aid, gastrostomy catheter kit, and method of splitting sheath for gastrostoma
US7857185B2 (en) 2008-02-14 2010-12-28 Ethicon Endo-Surgery, Inc. Disposable loading unit for surgical stapling apparatus
US7861906B2 (en) 2008-02-14 2011-01-04 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with articulatable components
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US7871418B2 (en) 2006-10-06 2011-01-18 Ethicon Endo-Surgery, Inc. Applier for fastener for single lumen access anastomosis
US20110011915A1 (en) 2009-02-06 2011-01-20 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
US20110022032A1 (en) 2007-10-05 2011-01-27 Tyco Healthcare Group Lp Battery ejection design for a surgical device
US20110017801A1 (en) 2007-10-05 2011-01-27 Tyco Healthcare Group Lp Internal backbone structural chassis for a surgical device
US20110024479A1 (en) 2009-02-06 2011-02-03 Swensgard Brett E Driven Surgical Stapler Improvements
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US20110024478A1 (en) 2009-02-06 2011-02-03 Shelton Iv Frederick E Driven Surgical Stapler Improvements
US20110036887A1 (en) 2009-08-11 2011-02-17 Tyco Healthcare Group Lp Surgical stapling apparatus
US7905380B2 (en) 2007-06-04 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US7909191B2 (en) 2005-06-03 2011-03-22 Greatbatch Ltd. Connectable instrument trays for creating a modular case
US20110068145A1 (en) 2008-02-13 2011-03-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US7914543B2 (en) 2003-10-14 2011-03-29 Satiety, Inc. Single fold device for tissue fixation
US7913891B2 (en) 2008-02-14 2011-03-29 Ethicon Endo-Surgery, Inc. Disposable loading unit with user feedback features and surgical instrument for use therewith
US7918376B1 (en) 2009-03-09 2011-04-05 Cardica, Inc. Articulated surgical instrument
US7918377B2 (en) 2008-10-16 2011-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with apparatus for providing anvil position feedback
US7922061B2 (en) 2008-05-21 2011-04-12 Ethicon Endo-Surgery, Inc. Surgical instrument with automatically reconfigurable articulating end effector
US20110087279A1 (en) 2008-05-21 2011-04-14 Bhavin Shah Devices and methods for applying bolster materials to surgical fastening apparatuses
US20110087276A1 (en) 2009-10-09 2011-04-14 Ethicon Endo-Surgery, Inc. Method for forming a staple
US20110084112A1 (en) 2009-10-14 2011-04-14 Tyco Healthcare Group Lp Varying Tissue Compression Aided By Elastic Members
US20110095068A1 (en) 2009-10-28 2011-04-28 Nihir Patel Surgical fastening apparatus
US7941865B2 (en) 2005-11-01 2011-05-10 Black & Decker Inc. Rechargeable battery pack and operating system
US7938307B2 (en) 2004-10-18 2011-05-10 Tyco Healthcare Group Lp Support structures and methods of using the same
US7942303B2 (en) 2008-06-06 2011-05-17 Tyco Healthcare Group Lp Knife lockout mechanisms for surgical instrument
US7944175B2 (en) 2006-04-26 2011-05-17 Makita Corporation Battery charging systems
US20110118754A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US20110118761A1 (en) 2009-11-19 2011-05-19 Ethicon Endo-Surgery Circular stapler introducer with rigid distal end portion
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
US7959051B2 (en) 2008-02-15 2011-06-14 Ethicon Endo-Surgery, Inc. Closure systems for a surgical cutting and stapling instrument
US7963963B2 (en) 2002-10-30 2011-06-21 Medtronic, Inc. Electrosurgical hemostat
US20110155781A1 (en) 2009-12-24 2011-06-30 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US7972298B2 (en) 2004-03-05 2011-07-05 Hansen Medical, Inc. Robotic catheter system
US20110163147A1 (en) 2010-01-07 2011-07-07 Ethicon Endo-Surgery, Inc. Test device for a surgical tool
US7980443B2 (en) 2008-02-15 2011-07-19 Ethicon Endo-Surgery, Inc. End effectors for a surgical cutting and stapling instrument
US20110178536A1 (en) 2010-01-19 2011-07-21 Tyco Healthcare Group Lp Suture and retainer assembly and sulu
US20110174861A1 (en) 2007-01-10 2011-07-21 Shelton Iv Frederick E Surgical Instrument With Wireless Communication Between Control Unit and Remote Sensor
US8011555B2 (en) 2007-03-06 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US8011551B2 (en) 2008-07-01 2011-09-06 Tyco Healthcare Group Lp Retraction mechanism with clutch-less drive for use with a surgical apparatus
US8020743B2 (en) 2008-10-15 2011-09-20 Ethicon Endo-Surgery, Inc. Powered articulatable surgical cutting and fastening instrument with flexible drive member
US20110226837A1 (en) 2008-02-13 2011-09-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US8028883B2 (en) 2006-10-26 2011-10-04 Tyco Healthcare Group Lp Methods of using shape memory alloys for buttress attachment
US20110276083A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Bendable shaft for handle positioning
US20110275901A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Laparoscopic devices with articulating end effectors
US8056787B2 (en) 2007-03-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with travel-indicating retraction member
US20110288573A1 (en) 2008-02-14 2011-11-24 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US8066167B2 (en) 2009-03-23 2011-11-29 Ethicon Endo-Surgery, Inc. Circular surgical stapling instrument with anvil locking system
US20110295242A1 (en) 2006-03-23 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US20110290855A1 (en) 2008-02-14 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US20110295269A1 (en) 2008-09-23 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical instrument
US20110290851A1 (en) 2005-08-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US20110295270A1 (en) 2007-01-10 2011-12-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US20110290853A1 (en) 2003-05-20 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with e-beam driver
US20110290854A1 (en) 2007-06-04 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
USD650074S1 (en) 2010-10-01 2011-12-06 Ethicon Endo-Surgery, Inc. Surgical instrument
US8084001B2 (en) 2005-05-02 2011-12-27 Cornell Research Foundation, Inc. Photoluminescent silica-based sensors and methods of use
US8083120B2 (en) 2008-09-18 2011-12-27 Ethicon Endo-Surgery, Inc. End effector for use with a surgical cutting and stapling instrument
US8108072B2 (en) 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US20120029544A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Circular stapling instruments with secondary cutting arrangements and methods of using same
US20120024936A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Linear cutting and stapling device with selectively disengageable cutting member
US20120024935A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US8136712B2 (en) 2009-12-10 2012-03-20 Ethicon Endo-Surgery, Inc. Surgical stapler with discrete staple height adjustment and tactile feedback
US20120071711A1 (en) 2010-09-17 2012-03-22 Ethicon Endo-Surgery, Inc. Surgical instruments and batteries for surgical instruments
US20120071866A1 (en) 2010-09-17 2012-03-22 Ethicon Endo-Surgery, Inc. Power control arrangements for surgical instruments and batteries
US20120074196A1 (en) 2006-01-31 2012-03-29 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20120074201A1 (en) 2010-09-24 2012-03-29 Ethicon Endo-Surgery, Inc. Surgical instrument with trigger assembly for generating multiple actuation motions
US20120074198A1 (en) 2010-09-29 2012-03-29 Ethicon Endo-Surgery, Inc. Staple cartridge
US20120080498A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Curved end effector for a stapling instrument
US20120080496A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical instruments with reconfigurable shaft segments
US20120083836A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising an adjustable distal portion
US20120080493A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapler with floating anvil
US20120080477A1 (en) 2010-10-01 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US8157145B2 (en) 2007-05-31 2012-04-17 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with electrical feedback
US20120150192A1 (en) 2010-11-15 2012-06-14 Intuitive Surgical Operations, Inc. Method for passively decoupling torque applied by a remote actuator into an independently rotating member
US8211125B2 (en) 2008-08-15 2012-07-03 Ethicon Endo-Surgery, Inc. Sterile appliance delivery device for endoscopic procedures
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US8220468B2 (en) 2008-03-31 2012-07-17 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US20120187179A1 (en) 2011-01-26 2012-07-26 Gleiman Seth S Buttress Film With Hemostatic Action For Surgical Stapling Apparatus
US8241271B2 (en) 2005-06-30 2012-08-14 Intuitive Surgical Operations, Inc. Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing
US20120205421A1 (en) 2008-02-14 2012-08-16 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US8267300B2 (en) 2009-12-30 2012-09-18 Ethicon Endo-Surgery, Inc. Dampening device for endoscopic surgical stapler
US20120238824A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical bowel retractor devices
US20120234895A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges and end effectors with vessel measurement arrangements
US20120234896A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges
US20120239009A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical instruments with articulatable and rotatable end effector
US20120234899A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical fastener instruments
US20120234900A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges with tissue tethers for manipulating divided tissue and methods of using same
US20120234893A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical instruments with lockable articulating end effector
JP5033988B2 (en) 2006-10-30 2012-09-26 株式会社大一商会 Game machine
US20120241499A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Retainer assembly including a tissue thickness compensator
US20120241496A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of capsules
US20120241501A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising structure to produce a resilient load
US20120241491A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Expandable tissue thickness compensator
US20120241492A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising at least one medicament
US20120241505A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensators for circular surgical staplers
US20120241503A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US20120241497A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US20120253298A1 (en) 2010-09-30 2012-10-04 Ethicon Endo-Surgery, Inc. Layered tissue thickness compensator
US20120248169A1 (en) 2010-09-30 2012-10-04 Ethicon Endo-Surgery, Inc. Methods for forming tissue thickness compensator arrangements for surgical staplers
US20120286019A1 (en) 2008-02-14 2012-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with load-sensitive firing mechanism
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US20120298719A1 (en) 2011-05-27 2012-11-29 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US8360296B2 (en) 2010-09-09 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
US8372094B2 (en) 2004-10-15 2013-02-12 Covidien Lp Seal element for anastomosis
US20130041371A1 (en) 2008-02-14 2013-02-14 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device

Patent Citations (2380)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US66052A (en) 1867-06-25 smith
US662587A (en) 1900-05-18 1900-11-27 Charles Chandler Blake Insulated support for electric conductors.
US951393A (en) 1909-04-06 1910-03-08 John N Hahn Staple.
DE273689C (en) 1913-08-07 1914-05-08
US2037727A (en) 1934-12-27 1936-04-21 United Shoe Machinery Corp Fastening
US2132295A (en) 1937-05-05 1938-10-04 Hawkins Earl Stapling device
US2211117A (en) 1937-09-06 1940-08-13 Rieter Joh Jacob & Cie Ag Device for drawing rovings in speeders and spinning machines
US2161632A (en) 1937-12-20 1939-06-06 Martin L Nattenheimer Fastening device
US2214870A (en) 1938-08-10 1940-09-17 William J West Siding cutter
US2441096A (en) 1944-09-04 1948-05-04 Singer Mfg Co Control means for portable electric tools
US2526902A (en) 1947-07-31 1950-10-24 Norman C Rublee Insulating staple
FR999646A (en) 1949-11-16 1952-02-04 Cable clamp device
US2674149A (en) 1952-03-01 1954-04-06 Jerry S Benson Multiple pronged fastener device with spreading means
US2804848A (en) 1954-09-30 1957-09-03 Chicago Pneumatic Tool Co Drilling apparatus
FR1112936A (en) 1954-10-20 1956-03-20 Electric motor and three-speed control enclosed in a sheath
US2808482A (en) 1956-04-12 1957-10-01 Miniature Switch Corp Toggle switch construction
US2853074A (en) 1956-06-15 1958-09-23 Edward A Olson Stapling instrument for surgical purposes
DE1775926U (en) 1958-06-11 1958-10-16 Rudolf W Dipl Ing Ihmig BALLPOINT REFILL.
US3032769A (en) 1959-08-18 1962-05-08 John R Palmer Method of making a bracket
US3078465A (en) 1959-09-09 1963-02-26 Bobrov Boris Sergueevitch Instrument for stitching gastric stump
GB939929A (en) 1959-10-30 1963-10-16 Vasilii Fedotovich Goodov Instrument for stitching blood vessels, intestines, bronchi and other soft tissues
US3075062A (en) 1960-02-02 1963-01-22 J B T Instr Inc Toggle switch
US3166072A (en) 1962-10-22 1965-01-19 Jr John T Sullivan Barbed clips
US3266494A (en) 1963-08-26 1966-08-16 Possis Machine Corp Powered forceps
US3269630A (en) 1964-04-30 1966-08-30 Fleischer Harry Stapling instrument
US3357296A (en) 1965-05-14 1967-12-12 Keuneth W Lefever Staple fastener
GB1210522A (en) 1966-10-10 1970-10-28 United States Surgical Corp Instrument for placing lateral gastro-intestinal anastomoses
US3490675A (en) 1966-10-10 1970-01-20 United States Surgical Corp Instrument for placing lateral gastrointestinal anastomoses
US3494533A (en) 1966-10-10 1970-02-10 United States Surgical Corp Surgical stapler for stitching body organs
GB1217159A (en) 1967-12-05 1970-12-31 Coventry Gauge & Tool Co Ltd Torque limiting device
US3551987A (en) 1968-09-12 1971-01-05 Jack E Wilkinson Stapling clamp for gastrointestinal surgery
US3643851A (en) 1969-08-25 1972-02-22 United States Surgical Corp Skin stapler
US3598943A (en) 1969-12-01 1971-08-10 Illinois Tool Works Actuator assembly for toggle switch
US3744495A (en) 1970-01-02 1973-07-10 M Johnson Method of securing prolapsed vagina in cattle
US3662939A (en) 1970-02-26 1972-05-16 United States Surgical Corp Surgical stapler for skin and fascia
US3740994A (en) 1970-10-13 1973-06-26 Surgical Corp Three stage medical instrument
US3717294A (en) 1970-12-14 1973-02-20 Surgical Corp Cartridge and powering instrument for stapling skin and fascia
US3746002A (en) 1971-04-29 1973-07-17 J Haller Atraumatic surgical clamp
US3734207A (en) 1971-12-27 1973-05-22 M Fishbein Battery powered orthopedic cutting tool
US3751902A (en) 1972-02-22 1973-08-14 Emhart Corp Apparatus for installing insulation on a staple
US3940844A (en) 1972-02-22 1976-03-02 Pci Group, Inc. Method of installing an insulating sleeve on a staple
GB1339394A (en) 1972-04-06 1973-12-05 Vnii Khirurgicheskoi Apparatur Dies for surgical stapling instruments
US3819100A (en) 1972-09-29 1974-06-25 United States Surgical Corp Surgical stapling instrument
USRE28932E (en) 1972-09-29 1976-08-17 United States Surgical Corporation Surgical stapling instrument
US3892228A (en) 1972-10-06 1975-07-01 Olympus Optical Co Apparatus for adjusting the flexing of the bending section of an endoscope
US3821919A (en) 1972-11-10 1974-07-02 Illinois Tool Works Staple
US3885491A (en) 1973-12-21 1975-05-27 Illinois Tool Works Locking staple
US3894174A (en) 1974-07-03 1975-07-08 Emhart Corp Insulated staple and method of making the same
US4129059A (en) 1974-11-07 1978-12-12 Eck William F Van Staple-type fastener
US4060089A (en) 1975-09-03 1977-11-29 United States Surgical Corporation Surgical fastening method and device therefor
US4213562A (en) 1977-04-29 1980-07-22 Roger Garrett Programmer
US4321002A (en) 1978-03-27 1982-03-23 Minnesota Mining And Manufacturing Company Medical stapling device
US4305539A (en) 1979-03-26 1981-12-15 Korolkov Ivan A Surgical suturing instrument for application of a staple suture
US4340331A (en) 1979-03-26 1982-07-20 Savino Dominick J Staple and anviless stapling apparatus therefor
SU886900A1 (en) 1979-03-26 1981-12-07 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Surgical apparatus for applying line sutures
US4261244A (en) 1979-05-14 1981-04-14 Senco Products, Inc. Surgical staple
US4272662A (en) 1979-05-21 1981-06-09 C & K Components, Inc. Toggle switch with shaped wire spring contact
US4275813A (en) 1979-06-04 1981-06-30 United States Surgical Corporation Coherent surgical staple array
US4250436A (en) 1979-09-24 1981-02-10 The Singer Company Motor braking arrangement and method
US4520817A (en) 1980-02-05 1985-06-04 United States Surgical Corporation Surgical instruments
EP0033548B1 (en) 1980-02-05 1986-05-14 United States Surgical Corporation Surgical stapling instrument
US4429695A (en) 1980-02-05 1984-02-07 United States Surgical Corporation Surgical instruments
US4396139A (en) 1980-02-15 1983-08-02 Technalytics, Inc. Surgical stapling system, apparatus and staple
US4317451A (en) 1980-02-19 1982-03-02 Ethicon, Inc. Plastic surgical staple
US4289133A (en) 1980-02-28 1981-09-15 Senco Products, Inc. Cut-through backup washer for the scalpel of an intraluminal surgical stapling instrument
US4428376A (en) 1980-05-02 1984-01-31 Ethicon Inc. Plastic surgical staple
US4331277A (en) 1980-05-23 1982-05-25 United States Surgical Corporation Self-contained gas powered surgical stapler
US4380312A (en) 1980-07-17 1983-04-19 Minnesota Mining And Manufacturing Company Stapling tool
US4606343A (en) 1980-08-18 1986-08-19 United States Surgical Corporation Self-powered surgical fastening instrument
US4353371A (en) 1980-09-24 1982-10-12 Cosman Eric R Longitudinally, side-biting, bipolar coagulating, surgical instrument
DE3036217A1 (en) 1980-09-25 1982-04-08 Siemens AG, 1000 Berlin und 8000 München Infrared beam appts. for medical examinations - incorporates three transmission units, one on each face of console containing accumulator and mounted on stand
US4349028A (en) 1980-10-03 1982-09-14 United States Surgical Corporation Surgical stapling apparatus having self-contained pneumatic system for completing manually initiated motion sequence
US4489875A (en) 1980-10-17 1984-12-25 United States Surgical Corporation Self-centering surgical staple and stapler for applying the same
US4500024A (en) 1980-11-19 1985-02-19 Ethicon, Inc. Multiple clip applier
US4347450A (en) 1980-12-10 1982-08-31 Colligan Wallace M Portable power tool
US4451743A (en) 1980-12-29 1984-05-29 Citizen Watch Company Limited DC-to-DC Voltage converter
WO1982002824A1 (en) 1981-02-17 1982-09-02 United States Surgical Corp Indicator for surgical stapler
US4379457A (en) 1981-02-17 1983-04-12 United States Surgical Corporation Indicator for surgical stapler
SU1009439A1 (en) 1981-03-24 1983-04-07 Предприятие П/Я Р-6094 Surgical suturing device for application of anastomosis on digestive tract
US4526174A (en) 1981-03-27 1985-07-02 Minnesota Mining And Manufacturing Company Staple and cartridge for use in a tissue stapling device and a tissue closing method
US4434796A (en) 1981-04-07 1984-03-06 Vsesojuzny Nauchno-Issledovatelsky I Ispytatelny Institut Meditsinskoi Tekhniki Surgical staple, a method of and forceps for its removal
US4454887A (en) 1981-04-15 1984-06-19 Krueger Christian Medical instruments for introduction into the respiratory tract of a patient
US4383634A (en) 1981-05-26 1983-05-17 United States Surgical Corporation Surgical stapler apparatus with pivotally mounted actuator assemblies
US4485816A (en) 1981-06-25 1984-12-04 Alchemia Shape-memory surgical staple apparatus and method for use in surgical suturing
EP0070230B1 (en) 1981-07-09 1985-04-10 Tractel S.A. Declutching mechanism for a hauling apparatus through which runs a cable
US4475679A (en) 1981-08-07 1984-10-09 Fleury Jr George J Multi-staple cartridge for surgical staplers
US4632290A (en) 1981-08-17 1986-12-30 United States Surgical Corporation Surgical stapler apparatus
US4576167A (en) 1981-09-03 1986-03-18 United States Surgical Corporation Surgical stapler apparatus with curved shaft
GB2109241A (en) 1981-09-11 1983-06-02 Fuji Photo Optical Co Ltd Endoscope together with another medical appliance
US4565189A (en) 1981-10-08 1986-01-21 Bio Mabuchi Co. Ltd. Beauty treatment device
US4402445A (en) 1981-10-09 1983-09-06 United States Surgical Corporation Surgical fastener and means for applying same
US4809695A (en) 1981-10-21 1989-03-07 Owen M. Gwathmey Suturing assembly and method
US4415112A (en) 1981-10-27 1983-11-15 United States Surgical Corporation Surgical stapling assembly having resiliently mounted anvil
US4442964A (en) 1981-12-07 1984-04-17 Senco Products, Inc. Pressure sensitive and working-gap controlled surgical stapling instrument
US4505273A (en) 1982-02-10 1985-03-19 Intermedicat Gmbh Surgical staple
DE3210466A1 (en) 1982-03-22 1983-09-29 Peter Dipl.-Kfm. Dr. 6230 Frankfurt Gschaider Method and device for carrying out handling processes
US4408692A (en) 1982-04-12 1983-10-11 The Kendall Company Sterile cover for instrument
US4664305A (en) 1982-05-04 1987-05-12 Blake Joseph W Iii Surgical stapler
US4467805A (en) 1982-08-25 1984-08-28 Mamoru Fukuda Skin closure stapling device for surgical procedures
US4604786A (en) 1982-11-05 1986-08-12 The Grigoleit Company Method of making a composite article including a body having a decorative metal plate attached thereto
US4790225A (en) 1982-11-24 1988-12-13 Panduit Corp. Dispenser of discrete cable ties provided on a continuous ribbon of cable ties
US4676245A (en) 1983-02-09 1987-06-30 Mamoru Fukuda Interlocking surgical staple assembly
EP0122046A1 (en) 1983-03-11 1984-10-17 Ethicon, Inc. Absorbable fastening device with internal locking means
US4506671A (en) 1983-03-30 1985-03-26 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US4522327A (en) 1983-05-18 1985-06-11 United States Surgical Corporation Surgical fastener applying apparatus
US4527724A (en) 1983-06-10 1985-07-09 Senmed, Inc. Disposable linear surgical stapling instrument
US4548202A (en) 1983-06-20 1985-10-22 Ethicon, Inc. Mesh tissue fasteners
EP0129442B1 (en) 1983-06-20 1987-11-25 Ethicon, Inc. Method and apparatus for applying a fastener to tissue with a pair of hollow needles
US4573469A (en) 1983-06-20 1986-03-04 Ethicon, Inc. Two-piece tissue fastener with coinable leg staple and retaining receiver and method and instrument for applying same
US4693248A (en) 1983-06-20 1987-09-15 Ethicon, Inc. Two-piece tissue fastener with deformable retaining receiver
US4629107A (en) 1983-08-16 1986-12-16 Vsesojuzny Nauchno-Issledovatelsky I Ispytatelny Institute Meditsinskoi Tekhniki Ligating instrument
US4667674A (en) 1983-10-04 1987-05-26 United States Surgical Corporation Surgical fastener exhibiting improved hemostasis
US4530453A (en) 1983-10-04 1985-07-23 United States Surgical Corporation Surgical fastener applying apparatus
US4589416A (en) 1983-10-04 1986-05-20 United States Surgical Corporation Surgical fastener retainer member assembly
US4505414A (en) 1983-10-12 1985-03-19 Filipi Charles J Expandable anvil surgical stapler
US4610383A (en) 1983-10-14 1986-09-09 Senmed, Inc. Disposable linear surgical stapler
US4663874A (en) 1984-02-24 1987-05-12 C. I. Kaseo Co., Ltd. Magnetically attachable sign
EP0156774A2 (en) 1984-03-30 1985-10-02 Senmed, Inc. Multiple-Load cartridge assembly for a linear surgical stapling instrument
US4607638A (en) 1984-04-20 1986-08-26 Design Standards Corporation Surgical staples
US5002553A (en) 1984-05-14 1991-03-26 Surgical Systems & Instruments, Inc. Atherectomy system with a clutch
US4619262A (en) 1984-07-10 1986-10-28 Syncare, Inc. Surgical stapling device
US4605004A (en) 1984-07-16 1986-08-12 Ethicon, Inc. Surgical instrument for applying fasteners said instrument including force supporting means (case IV)
US4741336A (en) 1984-07-16 1988-05-03 Ethicon, Inc. Shaped staples and slotted receivers (case VII)
US4591085A (en) 1984-07-16 1986-05-27 Ethicon, Inc. Surgical instrument for applying fasteners, said instrument having an improved trigger interlocking mechanism (Case VI)
US4655222A (en) 1984-07-30 1987-04-07 Ethicon, Inc. Coated surgical staple
US4754909A (en) 1984-08-09 1988-07-05 Barker John M Flexible stapler
US4671445A (en) 1984-08-09 1987-06-09 Baxter Travenol Laboratories, Inc. Flexible surgical stapler assembly
US4767044A (en) 1984-10-19 1988-08-30 United States Surgical Corporation Surgical fastener applying apparatus
US4580712A (en) 1984-10-19 1986-04-08 United States Surgical Corporation Surgical fastener applying apparatus with progressive application of fastener
US4608981A (en) 1984-10-19 1986-09-02 Senmed, Inc. Surgical stapling instrument with staple height adjusting mechanism
US4573622A (en) 1984-10-19 1986-03-04 United States Surgical Corporation Surgical fastener applying apparatus with variable fastener arrays
US4605001A (en) 1984-10-19 1986-08-12 Senmed, Inc. Surgical stapling instrument with dual staple height mechanism
US4566620A (en) 1984-10-19 1986-01-28 United States Surgical Corporation Articulated surgical fastener applying apparatus
EP0178941B1 (en) 1984-10-19 1991-01-02 Ethicon, Inc. Surgical stapling instrument with staple height adjusting mechanism
US4633874A (en) 1984-10-19 1987-01-06 Senmed, Inc. Surgical stapling instrument with jaw latching mechanism and disposable staple cartridge
US4787387A (en) 1984-11-08 1988-11-29 American Cyanamid Company Surgical closure element
US4646722A (en) 1984-12-10 1987-03-03 Opielab, Inc. Protective endoscope sheath and method of installing same
US4641076A (en) 1985-01-23 1987-02-03 Hall Surgical-Division Of Zimmer, Inc. Method and apparatus for sterilizing and charging batteries
US4665916A (en) 1985-08-09 1987-05-19 United States Surgical Corporation Surgical stapler apparatus
US5334183A (en) 1985-08-28 1994-08-02 Valleylab, Inc. Endoscopic electrosurgical apparatus
EP0233940B1 (en) 1985-08-28 1993-11-18 Valleylab, Inc. Endoscopic ultrasonic aspirator with modified working tip and vibration apparatus thereof
US4869414A (en) 1985-08-30 1989-09-26 United States Surgical Corporation Articulated surgical fastener applying apparatus
US4728020A (en) 1985-08-30 1988-03-01 United States Surgical Corporation Articulated surgical fastener applying apparatus
SU1377053A1 (en) 1985-10-02 1988-02-28 В. Г. Сахаутдинов, Р. А. Талипов, Р. М. Халиков и 3. X. Гарифуллин Surgical suturing apparatus
US4610250A (en) 1985-10-08 1986-09-09 United States Surgical Corporation Two-part surgical fastener for fascia wound approximation
US4715520A (en) 1985-10-10 1987-12-29 United States Surgical Corporation Surgical fastener applying apparatus with tissue edge control
US4729260A (en) 1985-12-06 1988-03-08 Desoutter Limited Two speed gearbox
SU1333319A2 (en) 1985-12-10 1987-08-30 Петрозаводский государственный университет им.О.В.Куусинена Suture appliance for hollow organs
EP0248844B1 (en) 1985-12-13 1993-01-07 Valleylab, Inc. Angulated ultrasonic surgical handpieces
US4728876A (en) 1986-02-19 1988-03-01 Minnesota Mining And Manufacturing Company Orthopedic drive assembly
EP0261230B1 (en) 1986-04-02 1993-11-10 Valleylab, Inc. Method and apparatus for ultrasonic surgical fragmentation
US4827911A (en) 1986-04-02 1989-05-09 Cooper Lasersonics, Inc. Method and apparatus for ultrasonic surgical fragmentation and removal of tissue
US4988334A (en) 1986-04-09 1991-01-29 Valleylab, Inc. Ultrasonic surgical system with aspiration tubulation connector
EP0277959B1 (en) 1986-04-09 1993-10-06 Valleylab, Inc. Irrigation/aspiration manifold and fittings for ultrasonic surgical aspiration system
US4817847A (en) 1986-04-21 1989-04-04 Finanzaktiengesellschaft Globe Control Instrument and a procedure for performing an anastomosis
SU1561964A1 (en) 1986-04-24 1990-05-07 Благовещенский государственный медицинский институт Surgical suturing apparatus
FR2598905A1 (en) 1986-05-22 1987-11-27 Chevalier Jean Michel Device for interrupting the flow of a fluid in a duct with a flexible wall, in particular a hollow viscus and clamp assembly comprising this device
US4709120A (en) 1986-06-06 1987-11-24 Pearson Dean C Underground utility equipment vault
US4890613A (en) 1986-09-19 1990-01-02 Ethicon, Inc. Two piece internal organ fastener
US4752024A (en) 1986-10-17 1988-06-21 Green David T Surgical fastener and surgical stapling apparatus
EP0276104A2 (en) 1987-01-21 1988-07-27 American Medical Systems, Inc. Apparatus for removal of objects from body passages
US5211649A (en) 1987-02-10 1993-05-18 Vaso Products Australia Pty. Limited Venous cuff applicator, cartridge and cuff
US4719917A (en) 1987-02-17 1988-01-19 Minnesota Mining And Manufacturing Company Surgical staple
US5217478A (en) 1987-02-18 1993-06-08 Linvatec Corporation Arthroscopic surgical instrument drive system
US4777780A (en) 1987-04-21 1988-10-18 United States Surgical Corporation Method for forming a sealed sterile package
US4941623A (en) 1987-05-12 1990-07-17 United States Surgical Corporation Stapling process and device for use on the mesentery of the abdomen
US5392979A (en) 1987-05-26 1995-02-28 United States Surgical Corporation Surgical stapler apparatus
US4844068A (en) 1987-06-05 1989-07-04 Ethicon, Inc. Bariatric surgical instrument
US5027834A (en) 1987-06-11 1991-07-02 United States Surgical Corporation Stapling process for use on the mesenteries of the abdomen
US4930503A (en) 1987-06-11 1990-06-05 Pruitt J Crayton Stapling process and device for use on the mesenteries of the abdomen
US4848637A (en) 1987-06-11 1989-07-18 Pruitt J Crayton Staple device for use on the mesenteries of the abdomen
US5158567A (en) 1987-09-02 1992-10-27 United States Surgical Corporation One-piece surgical staple
US4821939A (en) 1987-09-02 1989-04-18 United States Surgical Corporation Staple cartridge and an anvilless surgical stapler
EP0310431B1 (en) 1987-09-30 1994-11-02 Valleylab, Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US5015227A (en) 1987-09-30 1991-05-14 Valleylab Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US4805617A (en) 1987-11-05 1989-02-21 Ethicon, Inc. Surgical fastening systems made from polymeric materials
US4819853A (en) 1987-12-31 1989-04-11 United States Surgical Corporation Surgical fastener cartridge
US4938408A (en) 1988-01-15 1990-07-03 Ethicon, Inc. Surgical stapler safety and sequencing mechanisms
EP0324636B1 (en) 1988-01-15 1994-03-23 Ethicon, Inc. Pneumatically actuated surgical stapler head
US4805823A (en) 1988-03-18 1989-02-21 Ethicon, Inc. Pocket configuration for internal organ staplers
US4944443A (en) 1988-04-22 1990-07-31 Innovative Surgical Devices, Inc. Surgical suturing instrument and method
US4880015A (en) 1988-06-03 1989-11-14 Nierman David M Biopsy forceps
US5071052A (en) 1988-09-22 1991-12-10 United States Surgical Corporation Surgical fastening apparatus with activation lockout
US4869415A (en) 1988-09-26 1989-09-26 Ethicon, Inc. Energy storage means for a surgical stapler
EP0364216B1 (en) 1988-10-13 1996-01-17 Gyrus Medical Limited Screening and monitoring instrument
USRE34519E (en) 1988-11-07 1994-01-25 Ethicon, Inc. Surgical stapler cartridge lockout device
US4892244B1 (en) 1988-11-07 1991-08-27 Ethicon Inc
US4892244A (en) 1988-11-07 1990-01-09 Ethicon, Inc. Surgical stapler cartridge lockout device
US5071430A (en) 1988-11-11 1991-12-10 United States Surgical Corporation Surgical instrument
US5197648A (en) 1988-11-29 1993-03-30 Gingold Bruce S Surgical stapling apparatus
US4915100A (en) 1988-12-19 1990-04-10 United States Surgical Corporation Surgical stapler apparatus with tissue shield
EP0376562B1 (en) 1988-12-20 1994-11-02 Valleylab, Inc. Improved resonator for surgical handpiece
EP0375302B1 (en) 1988-12-20 1994-11-02 Valleylab, Inc. Magnetostrictive transducer
US4986808A (en) 1988-12-20 1991-01-22 Valleylab, Inc. Magnetostrictive transducer
US5111987A (en) 1989-01-23 1992-05-12 Moeinzadeh Manssour H Semi-disposable surgical stapler
US5061269A (en) 1989-02-07 1991-10-29 Joseph J. Berke Surgical rongeur power grip structure and method
EP0387980B1 (en) 1989-03-13 1995-10-11 Samuel Shiber Atherectomy system with a clutch
US5522817A (en) 1989-03-31 1996-06-04 United States Surgical Corporation Absorbable surgical fastener with bone penetrating elements
US5062563A (en) 1989-04-10 1991-11-05 United States Surgical Corporation Fascia stapler
EP0392547B1 (en) 1989-04-14 1995-12-27 JOHNSON & JOHNSON PROFESSIONAL, INC. Multi-position latching mechanism for forceps
US5009661A (en) 1989-04-24 1991-04-23 Michelson Gary K Protective mechanism for surgical rongeurs
US5222976A (en) 1989-05-16 1993-06-29 Inbae Yoon Suture devices particularly useful in endoscopic surgery
SU1708312A1 (en) 1989-05-16 1992-01-30 Всесоюзный научно-исследовательский и испытательный институт медицинской техники Surgical apparatus for suturing bone tissue
US4978049A (en) 1989-05-26 1990-12-18 United States Surgical Corporation Three staple drive member
US5476206A (en) 1989-05-26 1995-12-19 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5031814A (en) 1989-05-26 1991-07-16 United States Surgical Corporation Locking mechanism for surgical fastening apparatus
US5106008A (en) 1989-05-26 1992-04-21 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US6155473A (en) 1989-05-26 2000-12-05 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US5505363A (en) 1989-05-26 1996-04-09 United States Surgical Corporation Surgical staples with plated anvils
US5040715B1 (en) 1989-05-26 1994-04-05 United States Surgical Corp Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5413268A (en) 1989-05-26 1995-05-09 United States Surgical Corporation Apparatus and method for placing stables in laparoscopic or endoscopic procedures
US5318221A (en) 1989-05-26 1994-06-07 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5040715A (en) 1989-05-26 1991-08-20 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5554169A (en) 1989-05-26 1996-09-10 United States Surgical Corporation Method for placing staples in laparoscopic or endoscopic procedures
US4955959A (en) 1989-05-26 1990-09-11 United States Surgical Corporation Locking mechanism for a surgical fastening apparatus
US5425745A (en) 1989-05-26 1995-06-20 United States Surgical Corporation Apparatus and method for placing staples in laparoscopic or endoscopic procedures
US5100420A (en) 1989-07-18 1992-03-31 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
US5084057A (en) 1989-07-18 1992-01-28 United States Surgical Corporation Apparatus and method for applying surgical clips in laparoscopic or endoscopic procedures
US5383881A (en) 1989-07-18 1995-01-24 United States Surgical Corporation Safety device for use with endoscopic instrumentation
US4932960A (en) 1989-09-01 1990-06-12 United States Surgical Corporation Absorbable surgical fastener
EP0427949B1 (en) 1989-10-17 1994-06-15 Bieffe Medital S.A. Apparatus for performing anastomosis
US5139513A (en) 1989-10-17 1992-08-18 Bieffe Medital S.A. Apparatus and method for suturing
US5239981A (en) 1989-11-16 1993-08-31 Effner Biomet Gmbh Film covering to protect a surgical instrument and an endoscope to be used with the film covering
US5195968A (en) 1990-02-02 1993-03-23 Ingemar Lundquist Catheter steering mechanism
US6033378A (en) 1990-02-02 2000-03-07 Ep Technologies, Inc. Catheter steering mechanism
US5344060A (en) 1990-03-05 1994-09-06 United States Surgical Corporation Surgical fastener apparatus
US5217457A (en) 1990-03-15 1993-06-08 Valleylab Inc. Enhanced electrosurgical apparatus
EP0447121B1 (en) 1990-03-15 1997-07-09 Valleylab, Inc. Gas coagulation device
US5244462A (en) 1990-03-15 1993-09-14 Valleylab Inc. Electrosurgical apparatus
US5088997A (en) 1990-03-15 1992-02-18 Valleylab, Inc. Gas coagulation device
US5014899A (en) 1990-03-30 1991-05-14 United States Surgical Corporation Surgical stapling apparatus
SU1722476A1 (en) 1990-04-02 1992-03-30 Свердловский Филиал Научно-Производственного Объединения "Фтизиопульмонология" Appliance for temporary occlusion of tubular organs
WO1991015157A1 (en) 1990-04-03 1991-10-17 Valleylab, Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
EP0523174B1 (en) 1990-04-03 1994-06-01 Valleylab, Inc. Apparatus for providing enhanced tissue fragmentation and/or hemostasis
US5116349A (en) 1990-05-23 1992-05-26 United States Surgical Corporation Surgical fastener apparatus
US5074454A (en) 1990-06-04 1991-12-24 Peters Ronald L Surgical stapler
US5342395A (en) 1990-07-06 1994-08-30 American Cyanamid Co. Absorbable surgical repair devices
SU1752361A1 (en) 1990-07-10 1992-08-07 Производственное Объединение "Челябинский Тракторный Завод Им.В.И.Ленина" Surgical sutural material
RU2008830C1 (en) 1990-07-13 1994-03-15 Константин Алексеевич Додонов Electrosurgical apparatus
US5163598A (en) 1990-07-23 1992-11-17 Rudolph Peters Sternum stapling apparatus
US5234447A (en) 1990-08-28 1993-08-10 Robert L. Kaster Side-to-end vascular anastomotic staple apparatus
US5094247A (en) 1990-08-31 1992-03-10 Cordis Corporation Biopsy forceps with handle having a flexible coupling
US5352238A (en) 1990-09-17 1994-10-04 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5653373A (en) 1990-09-17 1997-08-05 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5253793A (en) 1990-09-17 1993-10-19 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5379933A (en) 1990-09-17 1995-01-10 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5156614A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Apparatus for applying two-part surgical fasteners
US5156315A (en) 1990-09-17 1992-10-20 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5080556A (en) 1990-09-28 1992-01-14 General Electric Company Thermal seal for a gas turbine spacer disc
US5104025A (en) 1990-09-28 1992-04-14 Ethicon, Inc. Intraluminal anastomotic surgical stapler with detached anvil
EP0484677B2 (en) 1990-10-05 2000-07-05 United States Surgical Corporation Apparatus for placing staples in laparoscopic or endoscopic procedures
US5088979A (en) 1990-10-11 1992-02-18 Wilson-Cook Medical Inc. Method for esophageal invagination and devices useful therein
US5042707A (en) 1990-10-16 1991-08-27 Taheri Syde A Intravascular stapler, and method of operating same
USD330699S (en) 1990-10-19 1992-11-03 W. W. Cross, Inc. Insulated staple
US5246443A (en) 1990-10-30 1993-09-21 Christian Mai Clip and osteosynthesis plate with dynamic compression and self-retention
US6131789A (en) 1990-11-30 2000-10-17 Ethicon, Inc. Surgical stapler
US5275323A (en) 1990-11-30 1994-01-04 Ethicon, Inc. Surgical stapler
US5129570A (en) 1990-11-30 1992-07-14 Ethicon, Inc. Surgical stapler
US5470006A (en) 1990-12-06 1995-11-28 United States Surgical Corporation Surgical fastening apparatus with locking mechanism
US5470009A (en) 1990-12-06 1995-11-28 United States Surgical Corporation Surgical fastening apparatus with locking mechanism
US5209747A (en) 1990-12-13 1993-05-11 Knoepfler Dennis J Adjustable angle medical forceps
US5680983A (en) 1990-12-18 1997-10-28 United States Surgical Corporation Safety device for a surgical stapler cartridge
US5083695A (en) 1990-12-18 1992-01-28 Minnesota Mining And Manufacturing Company Stapler and firing device
US5445304A (en) 1990-12-18 1995-08-29 United States Surgical Corporation Safety device for a surgical stapler cartridge
US5141144A (en) 1990-12-18 1992-08-25 Minnesota Mining And Manufacturing Company Stapler and firing device
US5439479A (en) 1990-12-20 1995-08-08 United States Surigcal Corporation Surgical clip
US5354303A (en) 1991-01-09 1994-10-11 Endomedix Corporation Devices for enclosing, manipulating, debulking and removing tissue through minimal incisions
US5222963A (en) 1991-01-17 1993-06-29 Ethicon, Inc. Pull-through circular anastomosic intraluminal stapler with absorbable fastener means
US5188111A (en) 1991-01-18 1993-02-23 Catheter Research, Inc. Device for seeking an area of interest within a body
US5219111A (en) 1991-03-11 1993-06-15 Ethicon, Inc. Pneumatically actuated linear stapling device
EP0503662B1 (en) 1991-03-14 1997-06-04 United States Surgical Corporation Approximating apparatus for surgical jaw structure
US5336232A (en) 1991-03-14 1994-08-09 United States Surgical Corporation Approximating apparatus for surgical jaw structure and method of using the same
US5368015A (en) 1991-03-18 1994-11-29 Wilk; Peter J. Automated surgical system and apparatus
US5065929A (en) 1991-04-01 1991-11-19 Ethicon, Inc. Surgical stapler with locking means
US5171247A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier with rotating shaft
US5171249A (en) 1991-04-04 1992-12-15 Ethicon, Inc. Endoscopic multiple ligating clip applier
US5297714A (en) 1991-04-17 1994-03-29 Ethicon, Inc. Surgical staple with modified "B" shaped configuration
US5339799A (en) 1991-04-23 1994-08-23 Olympus Optical Co., Ltd. Medical system for reproducing a state of contact of the treatment section in the operation unit
EP0511470B1 (en) 1991-04-26 1995-10-25 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
EP0653189A2 (en) 1991-04-26 1995-05-17 United States Surgical Corporation Arcuate apparatus for applying two-part surgical fasteners
US5413272A (en) 1991-05-07 1995-05-09 United States Surgical Corporation Surgical fastening device
US5413267A (en) 1991-05-14 1995-05-09 United States Surgical Corporation Surgical stapler with spent cartridge sensing and lockout means
US5137198A (en) 1991-05-16 1992-08-11 Ethicon, Inc. Fast closure device for linear surgical stapling instrument
US5533581A (en) 1991-05-18 1996-07-09 Robert Bosch Gmbh Electric hand tool, in particular drill
WO1992020295A1 (en) 1991-05-24 1992-11-26 John Koivukangas Surgical operation device
EP0678007B1 (en) 1991-06-06 1998-09-23 Valleylab, Inc. Electrosurgical and ultrasonic surgical system
WO1992021300A1 (en) 1991-06-06 1992-12-10 Valleylab, Inc. Electrosurgical and ultrasonic surgical system
US5190517A (en) 1991-06-06 1993-03-02 Valleylab Inc. Electrosurgical and ultrasonic surgical system
US5221036A (en) 1991-06-11 1993-06-22 Haruo Takase Surgical stapler
US5359231A (en) 1991-06-21 1994-10-25 Lutron Electronics Co., Inc. Wallbox-mountable switch and dimmer
US5268622A (en) 1991-06-27 1993-12-07 Stryker Corporation DC powered surgical handpiece having a motor control circuit
US5207697A (en) 1991-06-27 1993-05-04 Stryker Corporation Battery powered surgical handpiece
US5391180A (en) 1991-08-05 1995-02-21 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5282829A (en) 1991-08-15 1994-02-01 United States Surgical Corporation Hollow body implants
US5271544A (en) 1991-08-23 1993-12-21 Ethicon, Inc. Surgical anastomosis stapling instrument
US5533661A (en) 1991-08-23 1996-07-09 Ethicon, Inc. Sealing means for endoscopic surgical anastomosis stapling instrument
US5205459A (en) 1991-08-23 1993-04-27 Ethicon, Inc. Surgical anastomosis stapling instrument
US5263973A (en) 1991-08-30 1993-11-23 Cook Melvin S Surgical stapling method
US5200280A (en) 1991-09-05 1993-04-06 Black & Decker Inc. Terminal cover for a battery pack
US5333772A (en) 1991-09-12 1994-08-02 Ethicon, Inc. Multiple fire endoscopic stapling mechanism
US5246156A (en) 1991-09-12 1993-09-21 Ethicon, Inc. Multiple fire endoscopic stapling mechanism
US5260637A (en) 1991-09-18 1993-11-09 MAGNETI MARELLI S.p.A. Electrical system for a motor vehicle, including at least one supercapacitor
US5476479A (en) 1991-09-26 1995-12-19 United States Surgical Corporation Handle for endoscopic surgical instruments and jaw structure
US5275608A (en) 1991-10-16 1994-01-04 Implemed, Inc. Generic endoscopic instrument
US5405072A (en) 1991-10-17 1995-04-11 United States Surgical Corporation Anvil for surgical staplers
US5312023A (en) 1991-10-18 1994-05-17 United States Surgical Corporation Self contained gas powered surgical apparatus
US5636780A (en) 1991-10-18 1997-06-10 United States Surgical Corporation Self contained gas powered surgical apparatus
US20020117534A1 (en) 1991-10-18 2002-08-29 Green David T. Apparatus and method for applying surgical staples to attach an object to body tissue
US5332142A (en) 1991-10-18 1994-07-26 Ethicon, Inc. Linear stapling mechanism with cutting means
US5817109A (en) 1991-10-18 1998-10-06 United States Surgical Corporation Apparatus and method for applying surgical staples to attach an object to body tissue
US5462215A (en) 1991-10-18 1995-10-31 United States Surgical Corporation Locking device for an apparatus for applying surgical fasteners
US5482197A (en) 1991-10-18 1996-01-09 United States Surgical Corporation Articulating surgical cartridge assembly
US6644532B2 (en) 1991-10-18 2003-11-11 United States Surtical Corporation Surgical stapling apparatus
US5397046A (en) 1991-10-18 1995-03-14 United States Surgical Corporation Lockout mechanism for surgical apparatus
US5711472A (en) 1991-10-18 1998-01-27 United States Surgical Corporation Self contained gas powered surgical apparatus
US5456401A (en) 1991-10-18 1995-10-10 United States Surgical Corporation Surgical apparatus having articulation mechanism
US5878937A (en) 1991-10-18 1999-03-09 United States Surgical Corporation Apparatus for applying surgical fasteners
US5706997A (en) 1991-10-18 1998-01-13 United States Surgical Corporation Apparatus for applying surgical fasteners
EP0552423B1 (en) 1991-10-18 1998-01-07 United States Surgical Corporation Self contained gas powered surgical apparatus
US5366134A (en) 1991-10-18 1994-11-22 United States Surgical Corporation Surgical fastening apparatus
US5366479A (en) 1991-10-18 1994-11-22 United States Surgical Corporation Surgical staple for attaching an object to body tissue
EP0537572B1 (en) 1991-10-18 1999-06-23 United States Surgical Corporation A locking device for an apparatus for applying surgical fasteners
US5497933A (en) 1991-10-18 1996-03-12 United States Surgical Corporation Apparatus and method for applying surgical staples to attach an object to body tissue
US5915616A (en) 1991-10-18 1999-06-29 United States Surgical Corporation Surgical fastener applying apparatus
US6877647B2 (en) 1991-10-18 2005-04-12 United States Surgical Corporation Surgical stapling apparatus
US5472132A (en) 1991-10-18 1995-12-05 United States Surgical Corporation Lockout mechanism for surgical apparatus
US5509596A (en) 1991-10-18 1996-04-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US6619529B2 (en) 1991-10-18 2003-09-16 United States Surgical Corporation Surgical stapling apparatus
US5307976A (en) 1991-10-18 1994-05-03 Ethicon, Inc. Linear stapling mechanism with cutting means
US5579978A (en) 1991-10-18 1996-12-03 United States Surgical Corporation Apparatus for applying surgical fasteners
US7296724B2 (en) 1991-10-18 2007-11-20 United States Surgical Corporation Surgical stapling apparatus
US5431322A (en) 1991-10-18 1995-07-11 United States Surgical Corporation Self contained gas powered surgical apparatus
US5584425A (en) 1991-10-18 1996-12-17 United States Surgical Corporation Lockout mechanism for surgical apparatus
US5647526A (en) 1991-10-18 1997-07-15 United States Surgical Corporation Self contained gas powered surgical apparatus
EP0541987B1 (en) 1991-10-18 1996-07-17 United States Surgical Corporation Apparatus for applying surgical staples to attach an object to body tissue
US5395312A (en) 1991-10-18 1995-03-07 Desai; Ashvin Surgical tool
US6250532B1 (en) 1991-10-18 2001-06-26 United States Surgical Corporation Surgical stapling apparatus
US20040173659A1 (en) 1991-10-18 2004-09-09 Green David T. Apparatus and method for applying surgical staples to attach an object to body tissue
US5645209A (en) 1991-10-18 1997-07-08 United States Surgical Corporation Self contained gas powered surgical apparatus
US5478003A (en) 1991-10-18 1995-12-26 United States Surgical Corporation Surgical apparatus
US5341810A (en) 1991-10-29 1994-08-30 Sulzer Medizinaltechnik Ag Sterile puncturing device for blood vessels with a non-sterile ultrasound probe, and apparatus for preparing the device
US5411508A (en) 1991-10-29 1995-05-02 The Trustees Of Columbia University In The City Of New York Gastrointestinal approximating and tissue attaching device
US5240163A (en) 1991-10-30 1993-08-31 American Cyanamid Company Linear surgical stapling instrument
US5350400A (en) 1991-10-30 1994-09-27 American Cyanamid Company Malleable, bioabsorbable, plastic staple; and method and apparatus for deforming such staple
US5531744A (en) 1991-11-01 1996-07-02 Medical Scientific, Inc. Alternative current pathways for bipolar surgical cutting tool
US6436097B1 (en) 1991-11-01 2002-08-20 Medical Scientific, Inc. Electrosurgical cutting tool
US5713896A (en) 1991-11-01 1998-02-03 Medical Scientific, Inc. Impedance feedback electrosurgical system
EP0545029A1 (en) 1991-11-07 1993-06-09 American Cyanamid Company Surgical stapling instrument
US5465896A (en) 1991-11-07 1995-11-14 United States Surgical Corporation Linear surgical stapling instrument
WO1993008755A1 (en) 1991-11-08 1993-05-13 Ep Technologies, Inc. Ablation electrode with insulated temperature sensing elements
US5458579A (en) 1991-12-31 1995-10-17 Technalytics, Inc. Mechanical trocar insertion apparatus
US5381782A (en) 1992-01-09 1995-01-17 Spectrum Medsystems Corporation Bi-directional and multi-directional miniscopes
US5433721A (en) 1992-01-17 1995-07-18 Ethicon, Inc. Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
DE69328576T2 (en) 1992-01-17 2001-01-04 Ethicon Inc Endoscopic surgical system with sensor means
US5667517A (en) 1992-01-17 1997-09-16 Ethicon, Inc. Endoscopic surgical system with sensing means
US5518164A (en) 1992-01-17 1996-05-21 Ethicon, Inc. Endoscopic surgical system with sensing means
EP0552050B1 (en) 1992-01-17 2000-05-10 Ethicon, Inc. Endoscopic surgical system with sensing means
US5518163A (en) 1992-01-17 1996-05-21 Ethicon, Inc. Endoscopic surgical system with sensing means
US5383880A (en) 1992-01-17 1995-01-24 Ethicon, Inc. Endoscopic surgical system with sensing means
US5423809A (en) 1992-01-21 1995-06-13 Valleylab Inc. Electrosurgical control for a trocar
WO1993013718A1 (en) 1992-01-21 1993-07-22 Valleylab, Inc. Electrosurgical control for a trocar
WO1993014690A1 (en) 1992-01-24 1993-08-05 Applied Medical Resources, Inc. Surgical manipulator
EP0711611A2 (en) 1992-02-07 1996-05-15 Valleylab, Inc. Control system for use in ultrasonic surgical apparatus
US5271543A (en) 1992-02-07 1993-12-21 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
US5632433A (en) 1992-02-07 1997-05-27 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
EP0625077B1 (en) 1992-02-07 1997-07-09 Valleylab, Inc. Ultrasonic surgical apparatus
WO1993015648A1 (en) 1992-02-07 1993-08-19 Wilk Peter J Endoscope with disposable insertion member
WO1993015850A1 (en) 1992-02-07 1993-08-19 Valleylab, Inc. Ultrasonic surgical apparatus
US5609285A (en) 1992-02-07 1997-03-11 Ethicon, Inc. Surgical anastomosis stapling instrument with flexible support shaft and anvil adjusting mechanism
US5782859A (en) 1992-02-12 1998-07-21 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5766205A (en) 1992-02-12 1998-06-16 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5383888A (en) 1992-02-12 1995-01-24 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5607450A (en) 1992-02-12 1997-03-04 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5514157A (en) 1992-02-12 1996-05-07 United States Surgical Corporation Articulating endoscopic surgical apparatus
US7087071B2 (en) 1992-02-12 2006-08-08 United States Surgical Corporation Articulating endoscopic surgical apparatus
US5352235A (en) 1992-03-16 1994-10-04 Tibor Koros Laparoscopic grasper and cutter
US5281216A (en) 1992-03-31 1994-01-25 Valleylab, Inc. Electrosurgical bipolar treating apparatus
EP0633749B1 (en) 1992-03-31 1997-08-20 Valleylab, Inc. Electrosurgical bipolar cutting handpiece
US5484095A (en) 1992-03-31 1996-01-16 United States Surgical Corporation Apparatus for endoscopically applying staples individually to body tissue
WO1993019681A1 (en) 1992-03-31 1993-10-14 Valleylab, Inc. Electrosurgical bipolar cutting handpiece
US5223675A (en) 1992-04-02 1993-06-29 Taft Anthony W Cable fastener
US5314424A (en) 1992-04-06 1994-05-24 United States Surgical Corporation Surgical instrument locking mechanism
US5236440A (en) 1992-04-14 1993-08-17 American Cyanamid Company Surgical fastener
US5445644A (en) 1992-04-16 1995-08-29 Ethicon, Inc. Pyloroplasty/pylorectomy shield
US5447513A (en) 1992-05-06 1995-09-05 Ethicon, Inc. Endoscopic ligation and division instrument
US5484451A (en) 1992-05-08 1996-01-16 Ethicon, Inc. Endoscopic surgical instrument and staples for applying purse string sutures
US5242457A (en) 1992-05-08 1993-09-07 Ethicon, Inc. Surgical instrument and staples for applying purse string sutures
US5573543A (en) 1992-05-08 1996-11-12 Ethicon, Inc. Endoscopic surgical instrument and staples for applying purse string sutures
US6053390A (en) 1992-05-19 2000-04-25 United States Surgical Anvil for surgical stapler
US5389098A (en) 1992-05-19 1995-02-14 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5582611A (en) 1992-05-19 1996-12-10 Olympus Optical Co., Ltd. Surgical device for stapling and/or fastening body tissues
US5395030A (en) 1992-06-04 1995-03-07 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
US5658300A (en) 1992-06-04 1997-08-19 Olympus Optical Co., Ltd. Tissue fixing surgical instrument, tissue-fixing device, and method of fixing tissues
US5649937A (en) 1992-06-04 1997-07-22 Olympus Optical Co., Ltd. Tissue-fixing surgical device, and method of fixing tissues
US5906625A (en) 1992-06-04 1999-05-25 Olympus Optical Co., Ltd. Tissue-fixing surgical instrument, tissue-fixing device, and method of fixing tissue
US5263629A (en) 1992-06-29 1993-11-23 Ethicon, Inc. Method and apparatus for achieving hemostasis along a staple line
EP0649290B1 (en) 1992-06-30 1998-03-25 Valleylab, Inc. An electrosurgical tubular trocar
US5258009A (en) 1992-06-30 1993-11-02 American Cyanamid Company Malleable, bioabsorbable,plastic staple having a knotted configuration; and method and apparatus for deforming such staple
US5258012A (en) 1992-06-30 1993-11-02 Ethicon, Inc. Surgical fasteners
US5221281A (en) 1992-06-30 1993-06-22 Valleylab Inc. Electrosurgical tubular trocar
EP0578425B1 (en) 1992-06-30 1997-09-10 Ethicon, Inc. Surgical fasteners
WO1994000060A1 (en) 1992-06-30 1994-01-06 Valleylab, Inc. An electrosurgical tubular trocar
US5618303A (en) 1992-07-02 1997-04-08 Marlow Surgical Technologies, Inc. Endoscopic instrument system and method
US5222975A (en) 1992-07-13 1993-06-29 Lawrence Crainich Surgical staples
US5485947A (en) 1992-07-20 1996-01-23 Ethicon, Inc. Linear stapling mechanism with cutting means
US5360428A (en) 1992-07-22 1994-11-01 Hutchinson Jr William B Laparoscopic instrument with electrical cutting wires
US5511564A (en) 1992-07-29 1996-04-30 Valleylab Inc. Laparoscopic stretching instrument and associated method
US5878193A (en) 1992-08-10 1999-03-02 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5282806A (en) 1992-08-21 1994-02-01 Habley Medical Technology Corporation Endoscopic surgical instrument having a removable, rotatable, end effector assembly
US5630782A (en) 1992-09-01 1997-05-20 Adair; Edwin L. Sterilizable endoscope with separable auxiliary assembly
US5489256A (en) 1992-09-01 1996-02-06 Adair; Edwin L. Sterilizable endoscope with separable disposable tube assembly
US5449365A (en) 1992-09-02 1995-09-12 United States Surgical Corporation Surgical clamp apparatus
US5718360A (en) 1992-09-08 1998-02-17 United States Surgical Corporation Surgical apparatus and detachable anvil rod therefor
EP0593920A1 (en) 1992-09-23 1994-04-27 United States Surgical Corporation Apparatus for applying surgical fasteners
EP0603472B1 (en) 1992-09-23 1998-11-25 United States Surgical Corporation Self contained gas powered surgical apparatus
US5485952A (en) 1992-09-23 1996-01-23 United States Surgical Corporation Apparatus for applying surgical fasteners
EP0600182A2 (en) 1992-10-02 1994-06-08 United States Surgical Corporation Apparatus for applying two-part surgical fasteners in laparoscopic or endoscopic procedures
US5569161A (en) 1992-10-08 1996-10-29 Wendell V. Ebling Endoscope with sterile sleeve
US5662662A (en) 1992-10-09 1997-09-02 Ethicon Endo-Surgery, Inc. Surgical instrument and method
US5797536A (en) 1992-10-09 1998-08-25 Ethicon, Inc. Endoscopic surgical instrument with pivotable and rotatable staple cartridge
US5607095A (en) 1992-10-09 1997-03-04 Ethicon, Inc. Endoscopic surgical instrument with pivotable and rotatable staple cartridge
EP0592244B1 (en) 1992-10-09 1998-01-14 Ethicon, Inc. Endoscopic surgical stapling instrument with pivotable and rotatable staple cartridge
US5601224A (en) 1992-10-09 1997-02-11 Ethicon, Inc. Surgical instrument
US5626587A (en) 1992-10-09 1997-05-06 Ethicon Endo-Surgery, Inc. Method for operating a surgical instrument
US5374277A (en) 1992-10-09 1994-12-20 Ethicon, Inc. Surgical instrument
US5829662A (en) 1992-10-09 1998-11-03 Ethicon, Inc. Endoscopic surgical stapling instrument with pivotable and rotatable staple cartridge
US5588581A (en) 1992-10-09 1996-12-31 Ethicon Endo-Surgery, Inc. Surgical instrument
US5330502A (en) 1992-10-09 1994-07-19 Ethicon, Inc. Rotational endoscopic mechanism with jointed drive mechanism
US5564615A (en) 1992-10-09 1996-10-15 Ethicon, Inc. Surgical instrument
US5588580A (en) 1992-10-09 1996-12-31 Ethicon Endo-Surgery, Inc. Surgical instrument
US5577654A (en) 1992-10-09 1996-11-26 Ethicon Endo-Surgery, Inc. Surgical instrument
US5634584A (en) 1992-10-09 1997-06-03 Ethicon Endo-Surgery, Inc. Surgical instrument
US5718548A (en) 1992-10-20 1998-02-17 Clipmaster Corporation Pty Ltd Staple assembly
EP0594148A1 (en) 1992-10-21 1994-04-27 United States Surgical Corporation Bioabsorbable foam pledgets
US5309927A (en) 1992-10-22 1994-05-10 Ethicon, Inc. Circular stapler tissue retention spring method
US5259366A (en) 1992-11-03 1993-11-09 Boris Reydel Method of using a catheter-sleeve assembly for an endoscope
US5409498A (en) 1992-11-05 1995-04-25 Ethicon, Inc. Rotatable articulating endoscopic fastening instrument
GB2272159A (en) 1992-11-10 1994-05-11 Andreas G Constantinides Surgical/diagnostic aid
US5520700A (en) 1992-11-13 1996-05-28 Technion Research & Development Foundation, Ltd. Stapler device particularly useful in medical suturing
WO1994011057A1 (en) 1992-11-16 1994-05-26 Boaz Avitall Catheter deflection control
EP0598618B1 (en) 1992-11-19 1998-09-02 Ethicon, Inc. Intraluminal manipulator
EP0768840B1 (en) 1992-11-30 2001-12-12 Sherwood Services AG Circuitry for an ultrasonic surgical instrument with an energy initiator to maintain the vibration and linear dynamics
US5372602A (en) 1992-11-30 1994-12-13 Device For Vascular Intervention, Inc. Method of removing plaque using catheter cutter with torque control
US5421829A (en) 1992-11-30 1995-06-06 Valleylab Inc. Ultrasonic surgical handpiece and an energy initiator
WO1994012108A1 (en) 1992-11-30 1994-06-09 Valleylab, Inc. An ultrasonic surgical handpiece and an energy initiator to maintain the vibration and linear dynamics
US5333422A (en) 1992-12-02 1994-08-02 The United States Of America As Represented By The United States Department Of Energy Lightweight extendable and retractable pole
US5356006A (en) 1992-12-16 1994-10-18 Ethicon, Inc. Sterile package for surgical devices
US5807393A (en) 1992-12-22 1998-09-15 Ethicon Endo-Surgery, Inc. Surgical tissue treating device with locking mechanism
EP0605351B1 (en) 1992-12-30 1998-11-04 François Régis Duthoit Instrument for the removal of a length of vein
US5358510A (en) 1993-01-26 1994-10-25 Ethicon, Inc. Two part surgical fastener
US5304204A (en) 1993-02-09 1994-04-19 Ethicon, Inc. Receiverless surgical fasteners
US5383895A (en) 1993-02-10 1995-01-24 Unisurge, Inc. Endoscopic surgical grasper and method
WO1994018893A1 (en) 1993-02-22 1994-09-01 Valleylab, Inc. A laparoscopic dissection tension retractor device and method
US5474057A (en) 1993-02-22 1995-12-12 Valleylab Inc. Laparoscopic dissection tension retractor device and method
US5683349A (en) 1993-02-22 1997-11-04 Valleylab Inc Laparoscopic dissection tension retractor device and method
US5667527A (en) 1993-03-02 1997-09-16 Holobeam, Inc. Staples
US5342396A (en) 1993-03-02 1994-08-30 Cook Melvin S Staples
US5813813A (en) 1993-03-04 1998-09-29 Daum Gmbh Surgical manipulator
US5599151A (en) 1993-03-04 1997-02-04 Daum Gmbh Surgical manipulator
US5397324A (en) 1993-03-10 1995-03-14 Carroll; Brendan J. Surgical stapler instrument and method for vascular hemostasis
US5312329A (en) 1993-04-07 1994-05-17 Valleylab Inc. Piezo ultrasonic and electrosurgical handpiece
WO1994022378A1 (en) 1993-04-07 1994-10-13 Valleylab, Inc. A piezo ultrasonic and electrosurgical handpiece
EP0695144B1 (en) 1993-04-19 1998-12-09 Valleylab, Inc. Electrosurgical processor and method of use
USD352780S (en) 1993-04-19 1994-11-22 Valleylab Inc. Combined suction, irrigation and electrosurgical handle
WO1994023659A1 (en) 1993-04-19 1994-10-27 Valleylab, Inc. Electrosurgical processor and method of use
US5370645A (en) 1993-04-19 1994-12-06 Valleylab Inc. Electrosurgical processor and method of use
US5690269A (en) 1993-04-20 1997-11-25 United States Surgical Corporation Endoscopic stapler
US5540375A (en) 1993-04-20 1996-07-30 United States Surgical Corporation Endoscopic stapler
US5467911A (en) 1993-04-27 1995-11-21 Olympus Optical Co., Ltd. Surgical device for stapling and fastening body tissues
US5904693A (en) 1993-04-27 1999-05-18 American Cyanamid Company Automatic laparoscopic ligation clip applicator
US5407293A (en) 1993-04-29 1995-04-18 Crainich; Lawrence Coupling apparatus for medical instrument
US5464300A (en) 1993-04-29 1995-11-07 Crainich; Lawrence Medical instrument and coupling apparatus for same
US5431668A (en) 1993-04-29 1995-07-11 Ethicon, Inc. Ligating clip applier
US7658312B2 (en) 1993-04-30 2010-02-09 Vidal Claude A Surgical instrument having an articulated jaw structure and a detachable knife
US6716232B1 (en) 1993-04-30 2004-04-06 United States Surgical Corporation Surgical instrument having an articulated jaw structure and a detachable knife
US5749893A (en) 1993-04-30 1998-05-12 United States Surgical Corporation Surgical instrument having an articulated jaw structure and a detachable knife
EP0623316B1 (en) 1993-05-04 1999-03-31 Gyrus Medical Limited Laparoscopic surgical instrument
EP0887046B1 (en) 1993-05-04 2003-07-09 Gyrus Medical Limited Laparoscopic surgical instrument
US5496317A (en) 1993-05-04 1996-03-05 Gyrus Medical Limited Laparoscopic surgical instrument
US5364003A (en) 1993-05-05 1994-11-15 Ethicon Endo-Surgery Staple cartridge for a surgical stapler
US5417361A (en) 1993-05-05 1995-05-23 Ethicon Endo-Surgery, Inc. Staple cartridge for a surgical stapler
US5415334A (en) 1993-05-05 1995-05-16 Ethicon Endo-Surgery Surgical stapler and staple cartridge
US5871135A (en) 1993-05-05 1999-02-16 Ethicon Endo-Surgery Surgical stapler and staple cartridge
US5817084A (en) 1993-05-14 1998-10-06 Sri International Remote center positioning device with flexible drive
US5549621A (en) 1993-05-14 1996-08-27 Byron C. Sutherland Apparatus and method for performing vertical banded gastroplasty
US5395033A (en) 1993-05-24 1995-03-07 Ethicon, Inc. Endoscopic surgical instrument with electromagnetic sensor
EP0630612A1 (en) 1993-05-24 1994-12-28 Ethicon, Inc. Endoscopic surgical instrument with electromagnetic sensor
US5341724A (en) 1993-06-28 1994-08-30 Bronislav Vatel Pneumatic telescoping cylinder and method
EP0708618B1 (en) 1993-07-12 1997-03-19 Gyrus Medical Limited An electrosurgical generator
US5438302A (en) 1993-07-12 1995-08-01 Gyrus Medical Limited Electrosurgical radiofrequency generator having regulated voltage across switching device
WO1995002369A1 (en) 1993-07-12 1995-01-26 Gyrus Medical Limited An electrosurgical generator
US5478354A (en) 1993-07-14 1995-12-26 United States Surgical Corporation Wound closing apparatus and method
EP0634144A1 (en) 1993-07-15 1995-01-18 Ethicon, Inc. An Endoscopic instrument having a torsionally stiff drive shaft for applying fasteners to tissue
US5543119A (en) 1993-07-15 1996-08-06 Siemens Aktiengesellschaft Cassette for treating medical instruments
US5582617A (en) 1993-07-21 1996-12-10 Charles H. Klieman Surgical instrument for endoscopic and general surgery
US5792165A (en) 1993-07-21 1998-08-11 Charles H. Klieman Endoscopic instrument with detachable end effector
US5817119A (en) 1993-07-21 1998-10-06 Charles H. Klieman Surgical instrument for endoscopic and general surgery
US5810811A (en) 1993-07-22 1998-09-22 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US5558671A (en) 1993-07-22 1996-09-24 Yates; David C. Impedance feedback monitor for electrosurgical instrument
US5833690A (en) 1993-07-22 1998-11-10 Ethicon, Inc. Electrosurgical device and method
US5876401A (en) 1993-07-22 1999-03-02 Ethicon Endo Surgery, Inc. Electrosurgical hemostatic device with adaptive electrodes
US5817093A (en) 1993-07-22 1998-10-06 Ethicon Endo-Surgery, Inc. Impedance feedback monitor with query electrode for electrosurgical instrument
US5709680A (en) 1993-07-22 1998-01-20 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device
US6024741A (en) 1993-07-22 2000-02-15 Ethicon Endo-Surgery, Inc. Surgical tissue treating device with locking mechanism
US5688270A (en) 1993-07-22 1997-11-18 Ethicon Endo-Surgery,Inc. Electrosurgical hemostatic device with recessed and/or offset electrodes
US5403312A (en) 1993-07-22 1995-04-04 Ethicon, Inc. Electrosurgical hemostatic device
US5735848A (en) 1993-07-22 1998-04-07 Ethicon, Inc. Electrosurgical stapling device
US5693051A (en) 1993-07-22 1997-12-02 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic device with adaptive electrodes
WO1995003743A1 (en) 1993-07-27 1995-02-09 Valleylab, Inc. Apparatus for esu leakage current control and relevant method
US5372596A (en) 1993-07-27 1994-12-13 Valleylab Inc. Apparatus for leakage control and method for its use
EP0710090B1 (en) 1993-07-27 1997-08-13 Valleylab, Inc. Apparatus for esu leakage current control and relevant method
US5441494A (en) 1993-07-29 1995-08-15 Ethicon, Inc. Manipulable hand for laparoscopy
EP0639349A2 (en) 1993-08-19 1995-02-22 United States Surgical Corporation Surgical apparatus with indicator
US5503320A (en) 1993-08-19 1996-04-02 United States Surgical Corporation Surgical apparatus with indicator
US7237708B1 (en) 1993-08-19 2007-07-03 United States Surgical Corp. Surgical apparatus with indicator
US5447417A (en) 1993-08-31 1995-09-05 Valleylab Inc. Self-adjusting pump head and safety manifold cartridge for a peristaltic pump
WO1995006817A1 (en) 1993-08-31 1995-03-09 Valleylab, Inc. Pump head cartridge
US5441193A (en) 1993-09-23 1995-08-15 United States Surgical Corporation Surgical fastener applying apparatus with resilient film
EP0646357A1 (en) 1993-09-30 1995-04-05 Ethicon, Inc. Surgical instrument having improved manipulating means
EP0646356A2 (en) 1993-09-30 1995-04-05 Ethicon, Inc. Articulable socket joint assembly for an endoscopic instrument and surgical fastener track therefor
US5405344A (en) 1993-09-30 1995-04-11 Ethicon, Inc. Articulable socket joint assembly for an endoscopic instrument for surgical fastner track therefor
EP0872213B1 (en) 1993-10-01 2002-05-08 United States Surgical Corporation Apparatus with anvil for applying surgical fasteners
EP1238634A2 (en) 1993-10-01 2002-09-11 United States Surgical Corporation Self contained gas powered surgical apparatus
US5908427A (en) 1993-10-06 1999-06-01 United States Surgical Corporation Surgical stapling apparatus and method
US5542594A (en) 1993-10-06 1996-08-06 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US6045560A (en) 1993-10-06 2000-04-04 United States Surgical Corporation Surgical stapling apparatus with biocompatible surgical fabric
US5964774A (en) 1993-10-06 1999-10-12 United States Surgical Corporation Surgical stapling apparatus and method with surgical fabric
WO1995009577A1 (en) 1993-10-07 1995-04-13 Valleylab, Inc. Automatic control for electrosurgical generator energy
US5615820A (en) 1993-10-07 1997-04-01 United States Surgical Corporation Cartridge surgical fastener applying apparatus
WO1995009576A1 (en) 1993-10-07 1995-04-13 Valleylab, Inc. Automatic control for electrosurgical generator
US5439155A (en) 1993-10-07 1995-08-08 United States Surgical Corporation Cartridge for surgical fastener applying apparatus
US5799857A (en) 1993-10-07 1998-09-01 United States Surgical Corporation Circular anastomosis device
EP0722296B1 (en) 1993-10-07 1998-12-02 Valleylab, Inc. Automatic control for electrosurgical generator
US5496312A (en) 1993-10-07 1996-03-05 Valleylab Inc. Impedance and temperature generator control
EP1300117B1 (en) 1993-10-08 2007-08-29 United States Surgical Corporation Surgical apparatus for applying surgical fasteners
US5560532A (en) 1993-10-08 1996-10-01 United States Surgical Corporation Apparatus and method for applying surgical staples to body tissue
US5918791A (en) 1993-10-08 1999-07-06 United States Surgical Corporation Surgical apparatus for applying surgical fasteners
US5709334A (en) 1993-10-08 1998-01-20 United States Surgical Corporation Surgical apparatus for applying surgical fasteners
US5562682A (en) 1993-10-08 1996-10-08 Richard-Allan Medical Industries, Inc. Surgical Instrument with adjustable arms
EP0648476B1 (en) 1993-10-08 1998-01-14 United States Surgical Corporation Self contained gas powered surgical apparatus
US5487499A (en) 1993-10-08 1996-01-30 United States Surgical Corporation Surgical apparatus for applying surgical fasteners including a counter
US5725554A (en) 1993-10-08 1998-03-10 Richard-Allan Medical Industries, Inc. Surgical staple and stapler
EP1733686B1 (en) 1993-10-08 2009-04-01 United States Surgical Corporation Surgical apparatus for applying surgical fasteners
EP0656188B1 (en) 1993-10-08 2003-01-02 United States Surgical Corporation Surgical apparatus for applying surgical fasteners
US5556416A (en) 1993-10-12 1996-09-17 Valleylab, Inc. Endoscopic instrument
US5571100B1 (en) 1993-11-01 1998-01-06 Gyrus Medical Ltd Electrosurgical apparatus
US5571100A (en) 1993-11-01 1996-11-05 Gyrus Medical Limited Electrosurgical apparatus
EP0650701B1 (en) 1993-11-01 1999-03-24 Gyrus Medical Limited Electrosurgical apparatus for laporoscopy and similar interventions
US5503635A (en) 1993-11-12 1996-04-02 United States Surgical Corporation Apparatus and method for performing compressional anastomoses
US5697943A (en) 1993-11-12 1997-12-16 United States Surgical Corporation Apparatus and method for performing compressional anastomoses
US5797906A (en) 1993-11-24 1998-08-25 Valleylab Inc Retrograde tissue splitter and method
WO1995014436A1 (en) 1993-11-24 1995-06-01 Valleylab, Inc. A retrograde high frequency tissue splitter
US5449355A (en) 1993-11-24 1995-09-12 Valleylab Inc. Retrograde tissue splitter and method
GB2284242A (en) 1993-11-30 1995-05-31 Wolf Gmbh Richard Remote movement of manipulator end effector
US5520678A (en) 1993-11-30 1996-05-28 Richard Wolf Gmbh Manipulator arm with proximal and distal control balls
US5514129A (en) 1993-12-03 1996-05-07 Valleylab Inc. Automatic bipolar control for an electrosurgical generator
US5732871A (en) 1993-12-06 1998-03-31 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5607094A (en) 1993-12-06 1997-03-04 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5603443A (en) 1993-12-06 1997-02-18 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5465894A (en) 1993-12-06 1995-11-14 Ethicon, Inc. Surgical stapling instrument with articulated stapling head assembly on rotatable and flexible support shaft
US5743456A (en) 1993-12-16 1998-04-28 Stryker Corporation Hand actuable surgical handpiece
WO1995018383A1 (en) 1993-12-27 1995-07-06 Valleylab, Inc. High frequency power measurement
US5422567A (en) 1993-12-27 1995-06-06 Valleylab Inc. High frequency power measurement
WO1995017855A1 (en) 1993-12-30 1995-07-06 Valleylab, Inc. Bipolar ultrasonic surgery
WO1995018572A1 (en) 1994-01-04 1995-07-13 Alpha Surgical Technologies, Inc. Stapling device
US5782397A (en) 1994-01-04 1998-07-21 Alpha Surgical Technologies, Inc. Stapling device
US5452837A (en) 1994-01-21 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapler with tissue gripping ridge
US5382247A (en) 1994-01-21 1995-01-17 Valleylab Inc. Technique for electrosurgical tips and method of manufacture and use
WO1995019739A1 (en) 1994-01-21 1995-07-27 Valleylab, Inc. Electrosurgical tips
WO1995020360A1 (en) 1994-01-31 1995-08-03 Valleylab, Inc. Telescoping bipolar electrode for non-invasive medical procedures
US5662258A (en) 1994-02-03 1997-09-02 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5562241A (en) 1994-02-03 1996-10-08 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5465895A (en) 1994-02-03 1995-11-14 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5487500A (en) 1994-02-03 1996-01-30 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5597107A (en) 1994-02-03 1997-01-28 Ethicon Endo-Surgery, Inc. Surgical stapler instrument
US5452836A (en) 1994-02-07 1995-09-26 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved jaw closure and staple firing actuator mechanism
US5575803A (en) 1994-02-10 1996-11-19 Bio-Vascular, Inc. Soft tissue stapling buttress
US5503638A (en) 1994-02-10 1996-04-02 Bio-Vascular, Inc. Soft tissue stapling buttress
EP0667119B1 (en) 1994-02-10 1996-07-17 Bio-Vascular, Inc. Soft tissue stapling buttress
US5549628A (en) 1994-02-10 1996-08-27 Bio-Vascular, Inc. Soft tissue stapling buttress
US5527320A (en) 1994-02-10 1996-06-18 Pilling Weck Inc. Surgical clip applying instrument
US5562702A (en) 1994-02-18 1996-10-08 Ethicon Endo-Surgery, Inc. Cable-actuated jaw assembly for surgical instruments
US5562701A (en) 1994-02-18 1996-10-08 Ethicon Endo-Surgery, Inc. Cable-actuated jaw assembly for surgical instruments
EP0669104A1 (en) 1994-02-25 1995-08-30 Ethicon Endo-Surgery Anvil pockets for surgical stapler
US5893506A (en) 1994-03-01 1999-04-13 United States Surgical Corporation Surgical stapler with anvil sensor and lockout
WO1995023557A1 (en) 1994-03-01 1995-09-08 United States Surgical Corporation Surgical stapler with anvil sensor and lockout
US5894979A (en) 1994-03-01 1999-04-20 United States Surgical Corporation Surgical stapler with anvil sensor and lockout
US5484398A (en) 1994-03-17 1996-01-16 Valleylab Inc. Methods of making and using ultrasonic handpiece
WO1995024865A1 (en) 1994-03-17 1995-09-21 Valleylab Inc. Methods of making and using ultrasonic handpiece
US5472442A (en) 1994-03-23 1995-12-05 Valleylab Inc. Moveable switchable electrosurgical handpiece
WO1995025471A3 (en) 1994-03-23 1995-10-19 Valleylab Inc Monopolar/bipolar electrosurgical handpiece for minimally invasive surgery
WO1995026562A1 (en) 1994-03-28 1995-10-05 Valleylab Inc. Tool and switch and method of assembling
US5541376A (en) 1994-03-28 1996-07-30 Valleylab Inc Switch and connector
US5605273A (en) 1994-03-30 1997-02-25 Ethicon Endo-Surgery Surgical instrument having staple head adapted for rib insertion
US5547117A (en) 1994-03-30 1996-08-20 Ethicon Endo-Surgery Handle actuator for surgical instrument having clamp lock and emergency release
US5794834A (en) 1994-03-30 1998-08-18 Ethicon Endo-Surgery Surgical stapling instrument with remotely articulated stapling head assembly on rotatable support shaft
US5580067A (en) 1994-03-30 1996-12-03 Ethicon Endo Surgery Handle actuator for surgical instrument having flexible cable
US5855311A (en) 1994-03-30 1999-01-05 Ethicon Endo-Surgery Reloadable surgical instrument
US5695524A (en) 1994-04-05 1997-12-09 Tracor Aerospace, Inc. Constant width, adjustable grip, staple apparatus and method
US5715987A (en) 1994-04-05 1998-02-10 Tracor Incorporated Constant width, adjustable grip, staple apparatus and method
US5415335A (en) 1994-04-07 1995-05-16 Ethicon Endo-Surgery Surgical stapler cartridge containing lockout mechanism
US5560530A (en) 1994-04-07 1996-10-01 United States Surgical Corporation Graduated anvil for surgical stapling instruments
EP0676173B1 (en) 1994-04-07 1998-09-09 United States Surgical Corporation Graduated anvil for surgical stapling instruments
US5653677A (en) 1994-04-12 1997-08-05 Fuji Photo Optical Co. Ltd Electronic endoscope apparatus with imaging unit separable therefrom
EP0679367A2 (en) 1994-04-28 1995-11-02 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5562239A (en) 1994-04-28 1996-10-08 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5535937A (en) 1994-04-28 1996-07-16 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5535934A (en) 1994-04-28 1996-07-16 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5529235A (en) 1994-04-28 1996-06-25 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5693042A (en) 1994-04-28 1997-12-02 Ethicon Endo-Surgery, Inc. Identification device for surgical instrument
US5630539A (en) 1994-05-02 1997-05-20 United States Surgical Corporation Laparoscopic stapler with overload sensor and interlock
EP1702567A2 (en) 1994-05-02 2006-09-20 United States Surgical Corporation Surgical stapler with mechanisms for reducing the firing force
US5470007A (en) 1994-05-02 1995-11-28 Minnesota Mining And Manufacturing Company Laparoscopic stapler with overload sensor and interlock
US5535935A (en) 1994-05-02 1996-07-16 United States Surgical Corporation Surgical stapler with mechanisms for reducing the firing force
WO1995029639A1 (en) 1994-05-02 1995-11-09 United States Surgical Corporation Laparoscopic stapler with overload sensor and interlock
EP1382303B1 (en) 1994-05-02 2006-06-21 United States Surgical Corporation Surgical stapler with offset staple rows
US5586711A (en) 1994-05-02 1996-12-24 United States Surgical Corporation Surgical stapler with mechanisms for reducing the firing force
US5489058A (en) 1994-05-02 1996-02-06 Minnesota Mining And Manufacturing Company Surgical stapler with mechanisms for reducing the firing force
US5680981A (en) 1994-05-05 1997-10-28 United States Surgical Corporation Self-contained powered surgical apparatus
US5628446A (en) 1994-05-05 1997-05-13 United States Surgical Corporation Self-contained powered surgical apparatus
US5474566A (en) 1994-05-05 1995-12-12 United States Surgical Corporation Self-contained powered surgical apparatus
EP0685204A1 (en) 1994-05-05 1995-12-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5928256A (en) 1994-05-10 1999-07-27 Riza; Erol D. Motor controlled surgical instrument
US5480409A (en) 1994-05-10 1996-01-02 Riza; Erol D. Laparoscopic surgical instrument
US5782749A (en) 1994-05-10 1998-07-21 Riza; Erol D. Laparoscopic surgical instrument with adjustable grip
US6704210B1 (en) 1994-05-20 2004-03-09 Medtronic, Inc. Bioprothesis film strip for surgical stapler and method of attaching the same
US5618294A (en) 1994-05-24 1997-04-08 Aust & Taylor Medical Corporation Surgical instrument
US5454827A (en) 1994-05-24 1995-10-03 Aust; Gilbert M. Surgical instrument
US6596432B2 (en) 1994-05-30 2003-07-22 Canon Kabushiki Kaisha Rechargeable batteries
US5814057A (en) 1994-06-03 1998-09-29 Gunze Limited Supporting element for staple region
US6063097A (en) 1994-06-03 2000-05-16 Gunze Limited Supporting element for staple region
US5553675A (en) 1994-06-10 1996-09-10 Minnesota Mining And Manufacturing Company Orthopedic surgical device
US5473204A (en) 1994-06-16 1995-12-05 Temple; Thomas D. Time delay switch
US6588643B2 (en) 1994-06-17 2003-07-08 Hearport, Inc. Surgical stapling instrument and method thereof
US5732872A (en) 1994-06-17 1998-03-31 Heartport, Inc. Surgical stapling instrument
US5558665A (en) 1994-06-24 1996-09-24 Archimedes Surgical, Inc. Surgical instrument and method for intraluminal retraction of an anatomic structure
US5807376A (en) 1994-06-24 1998-09-15 United States Surgical Corporation Apparatus and method for performing surgical tasks during laparoscopic procedures
US5787897A (en) 1994-06-24 1998-08-04 Archimedes Surgical, Inc. Surgical method for intraluminally plicating a fundus of a patient
US6517535B2 (en) 1994-06-24 2003-02-11 Gyrus Ent L.L.C. Apparatus for ablating turbinates
EP1034746B1 (en) 1994-06-29 2006-03-22 Gyrus Medical Limited Electrosurgical apparatus
EP1693015A2 (en) 1994-06-29 2006-08-23 Gyrus Medical Limited Electrosurgical apparatus
US5647869A (en) 1994-06-29 1997-07-15 Gyrus Medical Limited Electrosurgical apparatus
EP0694290B1 (en) 1994-06-29 2000-11-15 Gyrus Medical Limited Electrosurgical apparatus
US5662260A (en) 1994-07-13 1997-09-02 Yoon; Inbae Surgical staple cartridge
US5833695A (en) 1994-07-13 1998-11-10 Yoon; Inbae Surgical stapling system and method of applying staples from multiple staple cartridges
US5655698A (en) 1994-07-13 1997-08-12 Yoon; Inbae Surgical stapler with curved jaws
US5533521A (en) 1994-07-15 1996-07-09 United States Surgical Corporation Interchangeable tissue measuring device
DE9412228U1 (en) 1994-07-28 1994-09-22 Loctite Europa Eeig Peristaltic pump for precise dosing of small amounts of liquid
US5954259A (en) 1994-08-05 1999-09-21 United States Surgical Corporation Self-contained powered surgical apparatus for applying surgical fasteners
US5653374A (en) 1994-08-05 1997-08-05 United States Surgical Corporation Self-contained powered surgical apparatus
EP0699418A1 (en) 1994-08-05 1996-03-06 United States Surgical Corporation Self-contained powered surgical apparatus
US5507426A (en) 1994-08-05 1996-04-16 United States Surgical Corporation Apparatus for applying surgical fasteners
US5779130A (en) 1994-08-05 1998-07-14 United States Surgical Corporation Self-contained powered surgical apparatus
US5657921A (en) 1994-08-05 1997-08-19 United States Surgical Corporation Apparatus for applying surgical fasteners
US5509916A (en) 1994-08-12 1996-04-23 Valleylab Inc. Laser-assisted electrosurgery system
WO1996004858A1 (en) 1994-08-12 1996-02-22 Valleylab, Inc. Laser-assisted electrosurgery system
US5480089A (en) 1994-08-19 1996-01-02 United States Surgical Corporation Surgical stapler apparatus with improved staple pockets
US5758814A (en) 1994-08-25 1998-06-02 United States Surgical Corporation Anvil for circular stapler
US5639008A (en) 1994-08-25 1997-06-17 The United States Surgical Corporation Anvil for circular stapler
US5588579A (en) 1994-08-25 1996-12-31 United States Surgical Corporation Anvil for circular stapler
US6120433A (en) 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
US5836960A (en) 1994-09-23 1998-11-17 United States Surgical Corporation Endoscopic surgical apparatus with rotation lock
US5569284A (en) 1994-09-23 1996-10-29 United States Surgical Corporation Morcellator
EP0702937A1 (en) 1994-09-23 1996-03-27 United States Surgical Corporation Endoscopic surgical apparatus with rotation lock
US5643291A (en) 1994-09-29 1997-07-01 United States Surgical Corporation Surgical clip applicator
US5571116A (en) 1994-10-02 1996-11-05 United States Surgical Corporation Non-invasive treatment of gastroesophageal reflux disease
US5897562A (en) 1994-10-02 1999-04-27 United States Surgical Corporation Non-invasive apparatus for treatment of gastroesophageal reflux disease
US5685474A (en) 1994-10-04 1997-11-11 United States Surgical Corporation Tactile indicator for surgical instrument
US5901895A (en) 1994-10-05 1999-05-11 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
US5797538A (en) 1994-10-05 1998-08-25 United States Surgical Corporation Articulating apparatus for applying surgical fasteners to body tissue
EP1426012A1 (en) 1994-10-07 2004-06-09 United States Surgical Corporation Self-contained powered surgical apparatus
US5571090A (en) 1994-10-07 1996-11-05 United States Surgical Corporation Vascular suturing apparatus
EP1839596A1 (en) 1994-10-07 2007-10-03 United States Surgical Corporation Self-contained powered surgical apparatus
EP0705571A1 (en) 1994-10-07 1996-04-10 United States Surgical Corporation Self-contained powered surgical apparatus
EP0705570B1 (en) 1994-10-07 2004-04-28 United States Surgical Corporation Self-contained powered surgical apparatus
US5591170A (en) 1994-10-14 1997-01-07 Genesis Orthopedics Intramedullary bone cutting saw
US5575789A (en) 1994-10-27 1996-11-19 Valleylab Inc. Energizable surgical tool safety device and method
US5549637A (en) 1994-11-10 1996-08-27 Crainich; Lawrence Articulated medical instrument
US6264086B1 (en) 1994-12-07 2001-07-24 Mcguckin, Jr. James F. Surgical apparatus and method
US7235089B1 (en) 1994-12-07 2007-06-26 Boston Scientific Corporation Surgical apparatus and method
US5868760A (en) 1994-12-07 1999-02-09 Mcguckin, Jr.; James F. Method and apparatus for endolumenally resectioning tissue
US5636779A (en) 1994-12-13 1997-06-10 United States Surgical Corporation Apparatus for applying surgical fasteners
US5988479A (en) 1994-12-13 1999-11-23 United States Surgical Corporation Apparatus for applying surgical fasteners
US5704534A (en) 1994-12-19 1998-01-06 Ethicon Endo-Surgery, Inc. Articulation assembly for surgical instruments
US5692668A (en) 1994-12-19 1997-12-02 Ethicon Endo-Surgery, Inc. Surgical instrument
US5680982A (en) 1994-12-19 1997-10-28 Ethicon Endo-Surgery, Inc. Surgical instrument
US5673840A (en) 1994-12-19 1997-10-07 Ethicon Endo-Surgery, Inc. Surgical instrument
US5673841A (en) 1994-12-19 1997-10-07 Ethicon Endo-Surgery, Inc. Surgical instrument
US5826776A (en) 1994-12-19 1998-10-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US5632432A (en) 1994-12-19 1997-05-27 Ethicon Endo-Surgery, Inc. Surgical instrument
US5669544A (en) 1994-12-19 1997-09-23 Ethicon Endo-Surgery, Inc. Surgical instrument
WO1996019151A1 (en) 1994-12-21 1996-06-27 Valleylab, Inc. Rate control for a smoke/liquid suction accessory
US5628743A (en) 1994-12-21 1997-05-13 Valleylab Inc. Dual mode ultrasonic surgical apparatus
EP0891154B1 (en) 1994-12-21 2003-09-10 Sherwood Services AG Dual mode ultrasonic surgical apparatus
US5613966A (en) 1994-12-21 1997-03-25 Valleylab Inc System and method for accessory rate control
EP0717966B1 (en) 1994-12-21 2003-04-09 Gyrus Medical Limited Electrosurgical bipolar scissors
WO1997037598A1 (en) 1994-12-21 1997-10-16 Valleylab, Inc. Dual mode ultrasonic surgical apparatus
US5860975A (en) 1994-12-21 1999-01-19 Gyrus Medical Limited Electrosurgical instrument
US5620452A (en) 1994-12-22 1997-04-15 Yoon; Inbae Surgical clip with ductile tissue penetrating members
EP1157666B1 (en) 1994-12-22 2005-09-07 Ethicon Endo-Surgery, Inc. Impedance feedback monitor for electrosurgical instrument
US5695494A (en) 1994-12-22 1997-12-09 Valleylab Inc Rem output stage topology
WO1996019152A1 (en) 1994-12-22 1996-06-27 Valleylab, Inc. Adaptive monitoring for a return electrode consisting of two parts (rem)
WO1996021119A1 (en) 1994-12-30 1996-07-11 Valleylab, Inc. Bayonet connector for surgical handpiece
WO1996020652A1 (en) 1994-12-30 1996-07-11 Valleylab, Inc. Partially coated electrodes, manufacture and use
US5466020A (en) 1994-12-30 1995-11-14 Valleylab Inc. Bayonet connector for surgical handpiece
US5713895A (en) 1994-12-30 1998-02-03 Valleylab Inc Partially coated electrodes
WO1996022055A1 (en) 1995-01-19 1996-07-25 Inbae Yoon Surgical stapling system and method of applying staples from multiple staple cartridges
EP0806914B1 (en) 1995-02-03 2001-09-19 Sherwood Services AG Electrosurgical aspirator combined with a pencil
USD372086S (en) 1995-02-03 1996-07-23 Valleylab Inc. Aspirator attachment for a surgical device
WO1996023448A1 (en) 1995-02-03 1996-08-08 Valleylab, Inc. Electrosurgical aspirator combined with a pencil
US5669907A (en) 1995-02-10 1997-09-23 Valleylab Inc. Plasma enhanced bipolar electrosurgical system
WO1996024301A1 (en) 1995-02-10 1996-08-15 Valleylab, Inc. Plasma enhanced bipolar electrosurgical system
US5695504A (en) 1995-02-24 1997-12-09 Heartport, Inc. Devices and methods for performing a vascular anastomosis
WO1996027337A1 (en) 1995-03-07 1996-09-12 Valleylab Inc. Surgical gas plasma ignition apparatus and method
US5735445A (en) 1995-03-07 1998-04-07 United States Surgical Corporation Surgical stapler
EP0814712B1 (en) 1995-03-07 2004-02-18 Sherwood Services AG Surgical gas plasma ignition apparatus
US5669904A (en) 1995-03-07 1997-09-23 Valleylab Inc. Surgical gas plasma ignition apparatus and method
US5669918A (en) 1995-03-16 1997-09-23 Deutsche Forschungsanstalt Fur Luft-Und Raumfahrt E.V. Surgical instrument for preparing an anastomosis in minimally invasive surgery
US6012494A (en) 1995-03-16 2000-01-11 Deutsche Forschungsanstalt Fur Luft- Und Raumfahrt E.V. Flexible structure
DE19509116A1 (en) 1995-03-16 1996-09-19 Deutsche Forsch Luft Raumfahrt Flexible structure comprising material block subdivided into sections by notches
US5575799A (en) 1995-03-30 1996-11-19 United States Surgical Corporation Articulating surgical apparatus
US5599350A (en) 1995-04-03 1997-02-04 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with coagulation feedback
US5618307A (en) 1995-04-03 1997-04-08 Heartport, Inc. Clamp assembly and method of use
WO1996031155A1 (en) 1995-04-06 1996-10-10 Guthrie Robert B Methods and apparatus for inhibiting contamination of reusable pulse oximetry sensors
US5624452A (en) 1995-04-07 1997-04-29 Ethicon Endo-Surgery, Inc. Hemostatic surgical cutting or stapling instrument
US5716366A (en) 1995-04-07 1998-02-10 Ethicon Endo-Surgery, Inc. Hemostatic surgical cutting or stapling instrument
US5553765A (en) 1995-04-28 1996-09-10 Ethicon Endo-Surgery, Inc. Surgical stapler with improved operating lever mounting arrangement
EP0741996B1 (en) 1995-05-08 2004-02-25 Ethicon Endo-Surgery, Inc. Surgical tissue treating device with locking mechanism
US5766188A (en) 1995-05-08 1998-06-16 Kabushikikaisha Igaki Iryo Sekkei Medical suturing material
WO1996035464A1 (en) 1995-05-12 1996-11-14 Perkins Rodney C Translumenal circumferential injector
US6123241A (en) 1995-05-23 2000-09-26 Applied Tool Development Corporation Internal combustion powered tool
US5630540A (en) 1995-05-24 1997-05-20 United States Surgical Corporation Surgical staple and staple drive member
US5678748A (en) 1995-05-24 1997-10-21 Vir Engineering Surgical stapler with improved safety mechanism
US5738474A (en) 1995-05-24 1998-04-14 Blewett; Jeffrey J. Surgical staple and staple drive member
WO1996039085A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. A control system for neurosurgical electrosurgical unit
EP0833592B1 (en) 1995-06-06 2000-05-03 Sherwood Services AG Exit spark control for an electrosurgical generator
US5599344A (en) 1995-06-06 1997-02-04 Valleylab Inc. Control apparatus for electrosurgical generator power output
EP0830094B1 (en) 1995-06-06 2000-09-13 Sherwood Services AG Control apparatus for electrosurgical generator power output
WO1996039089A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Control apparatus for electrosurgical generator power output
WO1996039087A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Exit spark control for an electrosurgical generator
US5720744A (en) 1995-06-06 1998-02-24 Valleylab Inc Control system for neurosurgery
WO1996039086A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Power control for an electrosurgical generator
WO1996039088A1 (en) 1995-06-06 1996-12-12 Valleylab Inc. Digital waveform generation for electrosurgical generators
US5807378A (en) 1995-06-07 1998-09-15 Sri International Surgical manipulator for a telerobotic system
US5849011A (en) 1995-06-19 1998-12-15 Vidamed, Inc. Medical device with trigger actuation assembly
EP1082944B1 (en) 1995-06-23 2006-05-03 Gyrus Medical Limited An electrosurgical generator and system
EP0771176B2 (en) 1995-06-23 2006-01-04 Gyrus Medical Limited An electrosurgical instrument
EP0754437B2 (en) 1995-06-23 2004-12-22 Gyrus Medical Limited An electrosurgical generator and system
EP1025807B1 (en) 1995-06-23 2004-12-08 Gyrus Medical Limited An electrosurgical instrument
US6780180B1 (en) 1995-06-23 2004-08-24 Gyrus Medical Limited Electrosurgical instrument
US6174308B1 (en) 1995-06-23 2001-01-16 Gyrus Medical Limited Electrosurgical instrument
WO1997000646A1 (en) 1995-06-23 1997-01-09 Gyrus Medical Limited An electrosurgical instrument
US6364877B1 (en) 1995-06-23 2002-04-02 Gyrus Medical Limited Electrosurgical generator and system
US6004319A (en) 1995-06-23 1999-12-21 Gyrus Medical Limited Electrosurgical instrument
US6056746A (en) 1995-06-23 2000-05-02 Gyrus Medical Limited Electrosurgical instrument
US6293942B1 (en) 1995-06-23 2001-09-25 Gyrus Medical Limited Electrosurgical generator method
US6027501A (en) 1995-06-23 2000-02-22 Gyrus Medical Limited Electrosurgical instrument
US6416509B1 (en) 1995-06-23 2002-07-09 Gyrus Medical Limited Electrosurgical generator and system
US6261286B1 (en) 1995-06-23 2001-07-17 Gyrus Medical Limited Electrosurgical generator and system
EP0833593B2 (en) 1995-06-23 2004-07-28 Gyrus Medical Limited An electrosurgical instrument
EP1050278A1 (en) 1995-06-23 2000-11-08 Gyrus Medical Limited An electrosurgical instrument
WO1997000647A1 (en) 1995-06-23 1997-01-09 Gyrus Medical Limited An electrosurgical instrument
US6306134B1 (en) 1995-06-23 2001-10-23 Gyrus Medical Limited Electrosurgical generator and system
US20020029036A1 (en) 1995-06-23 2002-03-07 Gyrus Medical Limited Electrosurgical generator and system
US5902312A (en) 1995-07-03 1999-05-11 Frater; Dirk A. System for mounting bolster material on tissue staplers
USRE38708E1 (en) 1995-07-11 2005-03-01 United States Surgical Corporation Disposable loading unit for surgical stapler
US5911353A (en) 1995-07-11 1999-06-15 United States Surgical Corporation Disposable loading unit for surgical stapler
US5752644A (en) 1995-07-11 1998-05-19 United States Surgical Corporation Disposable loading unit for surgical stapler
US5591187A (en) 1995-07-14 1997-01-07 Dekel; Moshe Laparoscopic tissue retrieval device and method
US5706998A (en) 1995-07-17 1998-01-13 United States Surgical Corporation Surgical stapler with alignment pin locking mechanism
US5810855A (en) 1995-07-21 1998-09-22 Gore Enterprise Holdings, Inc. Endoscopic device and method for reinforcing surgical staples
US5702409A (en) 1995-07-21 1997-12-30 W. L. Gore & Associates, Inc. Device and method for reinforcing surgical staples
EP0843906B1 (en) 1995-08-10 2000-03-29 Valleylab, Inc. Assembly of electrode and terminal
US5611709A (en) 1995-08-10 1997-03-18 Valleylab Inc Method and assembly of member and terminal
WO1997006582A1 (en) 1995-08-10 1997-02-20 Valleylab Inc. Method and assembly of member and terminal
US5715988A (en) 1995-08-14 1998-02-10 United States Surgical Corporation Surgical stapler with lockout mechanism
US5718359A (en) 1995-08-14 1998-02-17 United States Of America Surgical Corporation Surgical stapler with lockout mechanism
US5839639A (en) 1995-08-17 1998-11-24 Lasersurge, Inc. Collapsible anvil assembly and applicator instrument
US5931853A (en) 1995-08-25 1999-08-03 Mcewen; James A. Physiologic tourniquet with safety circuit
US8056788B2 (en) 1995-08-28 2011-11-15 Tyco Healthcare Group Lp Surgical stapler
US8162197B2 (en) 1995-08-28 2012-04-24 Tyco Healthcare Group Lp Surgical stapler
US7044353B2 (en) 1995-08-28 2006-05-16 United States Surgical Corporation Surgical stapler
US7770774B2 (en) 1995-08-28 2010-08-10 Tyco Healthcare Group Lp Surgical stapler
US7258262B2 (en) 1995-08-28 2007-08-21 Tyco Healthcare Group Lp Surgical stapler
US7225964B2 (en) 1995-08-28 2007-06-05 Tyco Healthcare Group Lp Surgical stapler
US7278562B2 (en) 1995-08-28 2007-10-09 United States Surgical Corporation Surgical stapler
USRE40514E1 (en) 1995-08-28 2008-09-23 United States Surgical Corporation Surgical stapler
US8453912B2 (en) 1995-08-28 2013-06-04 Covidien Lp Surgical stapler
EP0760230B1 (en) 1995-08-28 1999-02-24 United States Surgical Corporation Surgical stapler
US8011553B2 (en) 1995-08-28 2011-09-06 Mastri Dominick L Surgical stapler
US6032849A (en) 1995-08-28 2000-03-07 United States Surgical Surgical stapler
US5782396A (en) 1995-08-28 1998-07-21 United States Surgical Corporation Surgical stapler
US7308998B2 (en) 1995-08-28 2007-12-18 United States Surgical Corporation Surgical stapler
US7891532B2 (en) 1995-08-28 2011-02-22 Tyco Healthcare Group Lp Surgical stapler
US7128253B2 (en) 1995-08-28 2006-10-31 United States Surgical Corporation Surgical stapler
US6986451B1 (en) 1995-08-28 2006-01-17 United States Surgical Corporation Surgical stapler
US7913893B2 (en) 1995-08-28 2011-03-29 Tyco Healthcare Group Lp Surgical stapler
US7472814B2 (en) 1995-08-28 2009-01-06 United States Surgical Corporation Surgical stapler
US5762256A (en) 1995-08-28 1998-06-09 United States Surgical Corporation Surgical stapler
US8272553B2 (en) 1995-08-28 2012-09-25 Tyco Healthcare Group Lp Surgical stapler
US5574431A (en) 1995-08-29 1996-11-12 Checkpoint Systems, Inc. Deactivateable security tag
US5667526A (en) 1995-09-07 1997-09-16 Levin; John M. Tissue retaining clamp
US5772578A (en) 1995-09-14 1998-06-30 Richard Wolf Gmbh Endoscopic instrument
US5827271A (en) 1995-09-19 1998-10-27 Valleylab Energy delivery system for vessel sealing
WO1997010764A1 (en) 1995-09-19 1997-03-27 Valleylab Inc. Vascular tissue sealing pressure control and method
US6039733A (en) 1995-09-19 2000-03-21 Valleylab, Inc. Method of vascular tissue sealing pressure control
US5704087A (en) 1995-09-19 1998-01-06 Strub; Richard Dental care apparatus and technique
WO1997010763A1 (en) 1995-09-19 1997-03-27 Valleylab Inc. Energy delivery system for vessel sealing
EP0862386B1 (en) 1995-09-19 2002-06-05 Sherwood Services AG Energy delivery system for vessel sealing
EP1557129A1 (en) 1995-09-19 2005-07-27 Sherwood Services AG Vascular tissue sealing pressure control
US5776130A (en) 1995-09-19 1998-07-07 Valleylab, Inc. Vascular tissue sealing pressure control
US5797959A (en) 1995-09-21 1998-08-25 United States Surgical Corporation Surgical apparatus with articulating jaw structure
US5772659A (en) 1995-09-26 1998-06-30 Valleylab Inc. Electrosurgical generator power control circuit and method
WO1997011648A2 (en) 1995-09-26 1997-04-03 Valleylab Inc. Electrosurgical generator power control circuit and method
WO1997011649A1 (en) 1995-09-27 1997-04-03 Valleylab Inc. Coated electrosurgical electrode and method of manufacture
EP0852480B1 (en) 1995-09-27 2003-08-27 Sherwood Services AG Coated electrosurgical electrode and method of manufacture
US5702387A (en) 1995-09-27 1997-12-30 Valleylab Inc Coated electrosurgical electrode
US5707392A (en) 1995-09-29 1998-01-13 Symbiosis Corporation Hermaphroditic stamped forceps jaw for disposable endoscopic biopsy forceps and method of making the same
US5796188A (en) 1995-10-05 1998-08-18 Xomed Surgical Products, Inc. Battery-powered medical instrument with power booster
US5779131A (en) 1995-10-19 1998-07-14 Ethicon Endo-Surgery, Inc. Endoscopic surgical stapler with compact profile
US5779132A (en) 1995-10-19 1998-07-14 Ethicon Endo-Surgery, Inc. Endoscopic surgical stapler with compact profile
US5809441A (en) 1995-10-19 1998-09-15 Case Corporation Apparatus and method of neutral start control of a power transmission
US5653721A (en) 1995-10-19 1997-08-05 Ethicon Endo-Surgery, Inc. Override mechanism for an actuator on a surgical instrument
US5700270A (en) 1995-10-20 1997-12-23 United States Surgical Corporation Surgical clip applier
US5938667A (en) 1995-10-20 1999-08-17 United States Surgical Corporation Surgical clip applier
US6039734A (en) 1995-10-24 2000-03-21 Gyrus Medical Limited Electrosurgical hand-held battery-operated instrument
WO1997015237A1 (en) 1995-10-24 1997-05-01 Gyrus Medical Limited Electrosurgical hand-held battery-operated instrument
EP0858295B1 (en) 1995-10-24 2002-12-18 Gyrus Medical Limited Electrosurgical instrument
US6817509B2 (en) 1995-10-27 2004-11-16 United States Surgical Corporation Surgical stapler
US5941442A (en) 1995-10-27 1999-08-24 United States Surgical Surgical stapler
US6202914B1 (en) 1995-10-27 2001-03-20 United States Surgical Corporation Surgical stapler
US5651491A (en) 1995-10-27 1997-07-29 United States Surgical Corporation Surgical stapler having interchangeable loading units
US6681978B2 (en) 1995-10-27 2004-01-27 United States Surgical Corporation Surgical stapler
EP0770355A1 (en) 1995-10-27 1997-05-02 United States Surgical Corporation Surgical stapler having interchangeable loading units
US6017322A (en) 1995-11-21 2000-01-25 Catheter Imaging Systems, Inc. Steerable catheter having disposable module and sterilizable handle and method of connecting same
US5658281A (en) 1995-12-04 1997-08-19 Valleylab Inc Bipolar electrosurgical scissors and method of manufacture
US5971916A (en) 1995-12-27 1999-10-26 Koren; Arie Video camera cover
EP0869742B1 (en) 1995-12-29 2003-05-21 Gyrus Medical Limited An electrosurgical instrument and an electrosurgical electrode assembly
WO1997024073A1 (en) 1995-12-29 1997-07-10 Gyrus Medical Limited An electrosurgical instrument and an electrosurgical electrode assembly
US6074386A (en) 1995-12-29 2000-06-13 Gyrus Medical Limited Electrosurgical instrument and an electrosurgical electrode assembly
US6090106A (en) 1996-01-09 2000-07-18 Gyrus Medical Limited Electrosurgical instrument
EP0873089B1 (en) 1996-01-09 2003-10-22 Gyrus Medical Limited Electrosurgical instrument
EP1344498B1 (en) 1996-01-09 2005-11-09 Gyrus Medical Limited An electrosurgical instrument
US6234178B1 (en) 1996-01-09 2001-05-22 Gyrus Medical Limited Electrosurgical instrument
WO1997024993A1 (en) 1996-01-09 1997-07-17 Gyrus Medical Limited An electrosurgical instrument
US6013076A (en) 1996-01-09 2000-01-11 Gyrus Medical Limited Electrosurgical instrument
EP1330989B1 (en) 1996-01-09 2005-12-07 Gyrus Medical Limited An electrosurgical instrument
US6015406A (en) 1996-01-09 2000-01-18 Gyrus Medical Limited Electrosurgical instrument
EP0959784B1 (en) 1996-01-09 2004-04-21 Gyrus Medical Limited An electrosurgical instrument
US5755717A (en) 1996-01-16 1998-05-26 Ethicon Endo-Surgery, Inc. Electrosurgical clamping device with improved coagulation feedback
US5738648A (en) 1996-01-23 1998-04-14 Valleylab Inc Method and apparatus for a valve and irrigator
US5620289A (en) 1996-02-09 1997-04-15 Curry; Rinda M. Colored staples
EP0880338B1 (en) 1996-02-13 2005-10-26 ConMed Corporation Surgical access device
US5749889A (en) 1996-02-13 1998-05-12 Imagyn Medical, Inc. Method and apparatus for performing biopsy
US5713128A (en) 1996-02-16 1998-02-03 Valleylab Inc Electrosurgical pad apparatus and method of manufacture
US7118582B1 (en) 1996-02-20 2006-10-10 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5855583A (en) 1996-02-20 1999-01-05 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US7083571B2 (en) 1996-02-20 2006-08-01 Intuitive Surgical Medical robotic arm that is attached to an operating table
US5797537A (en) 1996-02-20 1998-08-25 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved firing mechanism
US5820009A (en) 1996-02-20 1998-10-13 Richard-Allan Medical Industries, Inc. Articulated surgical instrument with improved jaw closure mechanism
US5762255A (en) 1996-02-20 1998-06-09 Richard-Allan Medical Industries, Inc. Surgical instrument with improvement safety lockout mechanisms
US6346077B1 (en) 1996-02-20 2002-02-12 Cardiothoracic Systems, Inc. Surgical instrument for stabilizing the beating heart during coronary artery bypass graft surgery
US6010054A (en) 1996-02-20 2000-01-04 Imagyn Medical Technologies Linear stapling instrument with improved staple cartridge
US6436107B1 (en) 1996-02-20 2002-08-20 Computer Motion, Inc. Method and apparatus for performing minimally invasive surgical procedures
US5725536A (en) 1996-02-20 1998-03-10 Richard-Allen Medical Industries, Inc. Articulated surgical instrument with improved articulation control mechanism
US5891160A (en) 1996-02-23 1999-04-06 Cardiovascular Technologies, Llc Fastener delivery and deployment mechanism and method for placing the fastener in minimally invasive surgery
WO1997030644A1 (en) 1996-02-23 1997-08-28 Somnus Medical Technologies, Inc. Apparatus for cosmetically remodeling a body structure
US6099537A (en) 1996-02-26 2000-08-08 Olympus Optical Co., Ltd. Medical treatment instrument
US5673842A (en) 1996-03-05 1997-10-07 Ethicon Endo-Surgery Surgical stapler with locking mechanism
US5697543A (en) 1996-03-12 1997-12-16 Ethicon Endo-Surgery, Inc. Linear stapler with improved firing stroke
US5605272A (en) 1996-03-12 1997-02-25 Ethicon Endo-Surgery, Inc. Trigger mechanism for surgical instruments
WO1997034533A1 (en) 1996-03-21 1997-09-25 S.A. Development Of Advanced Medical Products Ltd. Surgical stapler and method of surgical fastening
US5747953A (en) 1996-03-29 1998-05-05 Stryker Corporation Cordless, battery operated surical tool
US5728121A (en) 1996-04-17 1998-03-17 Teleflex Medical, Inc. Surgical grasper devices
US5785232A (en) 1996-04-17 1998-07-28 Vir Engineering Surgical stapler
WO1997039688A2 (en) 1996-04-22 1997-10-30 Vnus Medical Technologies, Inc. Method and apparatus for delivery of an appliance in a vessel
US5836503A (en) 1996-04-22 1998-11-17 United States Surgical Corporation Insertion device for surgical apparatus
US6050472A (en) 1996-04-26 2000-04-18 Olympus Optical Co., Ltd. Surgical anastomosis stapler
US6077286A (en) 1996-05-07 2000-06-20 Karl Storz Gmbh & Co. Kg Instrument with a bendable handle
US5713505A (en) 1996-05-13 1998-02-03 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5823066A (en) 1996-05-13 1998-10-20 Ethicon Endo-Surgery, Inc. Articulation transmission mechanism for surgical instruments
US5792135A (en) 1996-05-20 1998-08-11 Intuitive Surgical, Inc. Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity
US5772379A (en) 1996-05-24 1998-06-30 Evensen; Kenneth Self-filling staple fastener
US6302311B1 (en) 1996-06-14 2001-10-16 Boston Scientific Corporation Endoscopic stapler
US6119913A (en) 1996-06-14 2000-09-19 Boston Scientific Corporation Endoscopic stapler
US5944715A (en) 1996-06-20 1999-08-31 Gyrus Medical Limited Electrosurgical instrument
EP0959786B1 (en) 1996-06-20 2004-09-22 Gyrus Medical Limited Electrosurgical instrument for underwater treatments
EP0813843B1 (en) 1996-06-21 2003-10-01 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5735874A (en) 1996-06-21 1998-04-07 Ethicon Endo-Surgery, Inc. Variable position handle locking mechanism
US5702408A (en) 1996-07-17 1997-12-30 Ethicon Endo-Surgery, Inc. Articulating surgical instrument
US6083234A (en) 1996-07-23 2000-07-04 Surgical Dynamics, Inc. Anastomosis instrument and method
US6024748A (en) 1996-07-23 2000-02-15 United States Surgical Corporation Singleshot anastomosis instrument with detachable loading unit and method
US6726697B2 (en) 1996-07-23 2004-04-27 United States Surgical Corporation Anastomosis instrument and method
US6440146B2 (en) 1996-07-23 2002-08-27 United States Surgical Corporation Anastomosis instrument and method
US6752816B2 (en) 1996-08-15 2004-06-22 Stryker Corporation Powered surgical handpiece with removable control switch
USD393067S (en) 1996-08-27 1998-03-31 Valleylab Inc. Electrosurgical pencil
US5873885A (en) 1996-08-29 1999-02-23 Storz Instrument Company Surgical handpiece
US6364888B1 (en) 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
US5730758A (en) 1996-09-12 1998-03-24 Allgeyer; Dean O. Staple and staple applicator for use in skin fixation of catheters
USRE37814E1 (en) 1996-09-12 2002-08-06 Dean Allgeyer, M.D., Inc. Staple and staple applicator for use in skin fixation of catheters
EP0829235B1 (en) 1996-09-12 2003-06-04 Ethicon Endo-Surgery, Inc. Surgical clamping mechanism
US5833696A (en) 1996-10-03 1998-11-10 United States Surgical Corporation Apparatus for applying surgical clips
US6109500A (en) 1996-10-04 2000-08-29 United States Surgical Corporation Lockout mechanism for a surgical stapler
US5843132A (en) 1996-10-07 1998-12-01 Ilvento; Joseph P. Self-contained, self-powered temporary intravenous pacing catheter assembly
US5752965A (en) 1996-10-21 1998-05-19 Bio-Vascular, Inc. Apparatus and method for producing a reinforced surgical fastener suture line
WO1998017180A1 (en) 1996-10-21 1998-04-30 Bio-Vascular, Inc. Apparatus and method for producing a reinforced surgical fastener suture line
US5769892A (en) 1996-10-22 1998-06-23 Mitroflow International Inc. Surgical stapler sleeve for reinforcing staple lines
US6165184A (en) 1996-11-18 2000-12-26 Smith & Nephew, Inc. Systems methods and instruments for minimally invasive surgery
US6159200A (en) 1996-11-18 2000-12-12 Smith & Nephew Systems, methods, and instruments for minimally invasive surgery
US6132368A (en) 1996-12-12 2000-10-17 Intuitive Surgical, Inc. Multi-component telepresence system and method
US20020072736A1 (en) * 1996-12-12 2002-06-13 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
US6093186A (en) 1996-12-20 2000-07-25 Gyrus Medical Limited Electrosurgical generator and system
EP0949886B1 (en) 1996-12-20 2002-09-11 Gyrus Medical Limited Electrosurgical generator and system for underwater operation
WO1998027880A1 (en) 1996-12-20 1998-07-02 Gyrus Medical Limited Electrosurgical generator and system for underwater operation
US6063098A (en) 1996-12-23 2000-05-16 Houser; Kevin Articulable ultrasonic surgical apparatus
US5931847A (en) 1997-01-09 1999-08-03 Ethicon Endo-Surgery, Inc. Surgical cutting instrument with improved cutting edge
WO1998030153A1 (en) 1997-01-09 1998-07-16 Coalescent Surgical, Inc. Pinned retainer surgical fasteners, instruments and methods for minimally invasive vascular and endoscopic surgery
US5784934A (en) 1997-01-30 1998-07-28 Shinano Pneumatic Industries, Inc. Ratchet wrench with pivotable head
EP0856326B1 (en) 1997-02-03 2003-11-05 Sherwood Services AG Apparatus for detecting tube occlusion in a laparoscopic insufflation device
US5908402A (en) 1997-02-03 1999-06-01 Valleylab Method and apparatus for detecting tube occlusion in argon electrosurgery system
JP2001514541A (en) 1997-03-05 2001-09-11 ザ トラスティーズ オブ コロンビア ユニバーシティー イン ザ シティー オブ ニューヨーク Electrothermal device for sealing and bonding or cutting tissue
US6022352A (en) 1997-03-28 2000-02-08 Biomet, Inc. Bone fixation screw system
US5846254A (en) 1997-04-08 1998-12-08 Ethicon Endo-Surgery, Inc. Surgical instrument for forming a knot
EP0870473B1 (en) 1997-04-09 2005-09-14 Sherwood Services AG Electrosurgical generator with adaptive power control
US6033399A (en) 1997-04-09 2000-03-07 Valleylab, Inc. Electrosurgical generator with adaptive power control
US5919198A (en) 1997-04-17 1999-07-06 Ethicon Endo-Surgery, Inc. Disposable cartridge with drivers
US6325799B1 (en) 1997-04-24 2001-12-04 Gyrus Medical Limited Electrosurgical instrument
WO1998047436A1 (en) 1997-04-24 1998-10-29 Gyrus Medical Limited An electrosurgical instrument
US6214028B1 (en) 1997-05-01 2001-04-10 Inbae Yoon Surgical instrument with multiple rotatably mounted offset end effectors and method of using the same
USH2037H1 (en) 1997-05-14 2002-07-02 David C. Yates Electrosurgical hemostatic device including an anvil
USH1904H (en) 1997-05-14 2000-10-03 Ethicon Endo-Surgery, Inc. Electrosurgical hemostatic method and device
EP0878169A1 (en) 1997-05-14 1998-11-18 Ethicon Endo-Surgery, Inc. Improved electrosurgical hemostatic device including an anvil
US5817091A (en) 1997-05-20 1998-10-06 Medical Scientific, Inc. Electrosurgical device having a visible indicator
EP0879742A1 (en) 1997-05-20 1998-11-25 TRW Occupant Restraint Systems GmbH & Co. KG Method of manufacturing a cable portion with a fastening member for a vehicle occupant restraint system and cable portion manufactured by using the method
US5899914A (en) 1997-06-11 1999-05-04 Endius Incorporated Surgical instrument
US6231565B1 (en) 1997-06-18 2001-05-15 United States Surgical Corporation Robotic arm DLUs for performing surgical tasks
EP0888749B1 (en) 1997-06-30 2004-09-22 Ethicon Endo-Surgery, Inc. Capacitively coupled cordless electrosurgical instrument
US5951552A (en) 1997-06-30 1999-09-14 Ethicon Endo-Surgery, Inc. Capacitively coupled cordless electrosurgical instrument
US20040115022A1 (en) 1997-07-03 2004-06-17 Albertson Stephen H. Categorizing fasteners and construction connectors using visual identifiers
FR2765794B1 (en) 1997-07-11 1999-09-03 Joel Bardeau DRAINAGE DEVICE, PARTICULARLY FOR COVERING
US6338737B1 (en) 1997-07-17 2002-01-15 Haviv Toledano Flexible annular stapler for closed surgery of hollow organs
US7278994B2 (en) 1997-07-18 2007-10-09 Gyrus Medical Limited Electrosurgical instrument
WO1999003409A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
US6565560B1 (en) 1997-07-18 2003-05-20 Gyrus Medical Limited Electrosurgical instrument
WO1999003407A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
US6491690B1 (en) 1997-07-18 2002-12-10 Gyrus Medical Limited Electrosurgical instrument
EP0996378B1 (en) 1997-07-18 2004-06-30 Gyrus Medical Limited An electrosurgical instrument
WO1999003408A1 (en) 1997-07-18 1999-01-28 Gyrus Medical Limited An electrosurgical instrument
US5937951A (en) 1997-07-18 1999-08-17 Ethicon Endo-Surgery, Inc. Skin stapler with rack and pinion staple feed mechanism
US5948030A (en) 1997-07-25 1999-09-07 General Motors Corporation Steering angle determaination method and apparatus
US20050131211A1 (en) 1997-07-25 2005-06-16 Hagan Bayley Designed protein pores as components for biosensors
US6082577A (en) 1997-07-29 2000-07-04 Thomas & Betts International Inc. Cable tie dispensing apparatus
EP1001710B1 (en) 1997-08-05 2005-01-12 Gyrus Ent, L.L.C. Cell necrosis apparatus using electromagnetic energy
US5878938A (en) 1997-08-11 1999-03-09 Ethicon Endo-Surgery, Inc. Surgical stapler with improved locking mechanism
WO1999012487A1 (en) 1997-09-09 1999-03-18 Sherwood Services Ag Apparatus and method for sealing and cutting tissue
WO1999012488A1 (en) 1997-09-10 1999-03-18 Sherwood Services Ag Bipolar instrument for vessel fusion
US6162208A (en) 1997-09-11 2000-12-19 Genzyme Corporation Articulating endoscopic implant rotator surgical apparatus and method for using same
WO1999012483A1 (en) 1997-09-11 1999-03-18 Genzyme Corporation Articulating endoscopic implant rotator surgical apparatus and method for using same
US6017356A (en) 1997-09-19 2000-01-25 Ethicon Endo-Surgery Inc. Method for using a trocar for penetration and skin incision
US20090012534A1 (en) 1997-09-19 2009-01-08 Massachusetts Institute Of Technology Robotic apparatus
US6786896B1 (en) 1997-09-19 2004-09-07 Massachusetts Institute Of Technology Robotic apparatus
WO1999015091A1 (en) 1997-09-22 1999-04-01 Sherwood Services Ag Surgical gas plasma ignition apparatus and method
US20040108357A1 (en) 1997-09-23 2004-06-10 Milliman Keith L. Surgical stapling apparatus
WO1999015086A1 (en) 1997-09-23 1999-04-01 United States Surgical Corporation Surgical stapling apparatus
US6669073B2 (en) 1997-09-23 2003-12-30 United States Surgical Corporation Surgical stapling apparatus
JP2001517473A (en) 1997-09-23 2001-10-09 ユナイテッド ステイツ サージカル コーポレイション Surgical stapling device
US6079606A (en) 1997-09-23 2000-06-27 United States Surgical Corporation Surgical stapling apparatus
US6330965B1 (en) 1997-09-23 2001-12-18 United States Surgical Corporation Surgical stapling apparatus
US6241139B1 (en) 1997-09-23 2001-06-05 Keith L. Milliman Surgical stapling apparatus
US5865361A (en) 1997-09-23 1999-02-02 United States Surgical Corporation Surgical stapling apparatus
US6953139B2 (en) 1997-09-23 2005-10-11 United States Surgical Corporation Surgical stapling apparatus
US20060049229A1 (en) 1997-09-23 2006-03-09 Milliman Keith L Surgical stapling apparatus
US7303107B2 (en) 1997-09-23 2007-12-04 United States Surgical Corporation Surgical stapling apparatus
US20080041916A1 (en) 1997-09-23 2008-02-21 United States Surgical Corporation Surgical stapling apparatus
US6139546A (en) 1997-10-06 2000-10-31 Somnus Medical Technologies, Inc. Linear power control with digital phase lock
US5944172A (en) 1997-10-06 1999-08-31 Allen-Bradley Company, Llc Biasing assembly for a switching device
EP0908152B1 (en) 1997-10-10 2002-01-02 Ethicon Endo-Surgery, Inc. Ultrasonic clamp coagulator apparatus having force-limiting clamping mechanism
US6171316B1 (en) 1997-10-10 2001-01-09 Origin Medsystems, Inc. Endoscopic surgical instrument for rotational manipulation
US6241723B1 (en) 1997-10-15 2001-06-05 Team Medical Llc Electrosurgical system
US6511468B1 (en) 1997-10-17 2003-01-28 Micro Therapeutics, Inc. Device and method for controlling injection of liquid embolic composition
US6071233A (en) 1997-10-31 2000-06-06 Olympus Optical Co., Ltd. Endoscope
US6086600A (en) 1997-11-03 2000-07-11 Symbiosis Corporation Flexible endoscopic surgical instrument for invagination and fundoplication
EP1032318B1 (en) 1997-11-12 2006-08-30 Sherwood Services AG Bipolar electrosurgical instrument with replaceable electrodes
WO1999023933A2 (en) 1997-11-12 1999-05-20 Valleylab, Inc. Bipolar electrosurgical instrument with replaceable electrodes
WO1999023959A1 (en) 1997-11-12 1999-05-20 Valleylab, Inc. Bipolar electrosurgical instrument for sealing vessels
WO1999025261A1 (en) 1997-11-14 1999-05-27 Sherwood Services Ag Laparoscopic bipolar electrosurgical instrument
WO1999029244A1 (en) 1997-12-10 1999-06-17 Valleylab, Inc. Smart recognition apparatus and method
US6068627A (en) 1997-12-10 2000-05-30 Valleylab, Inc. Smart recognition apparatus and method
US6171330B1 (en) 1997-12-15 2001-01-09 Sofradim Production Pneumatic surgical instrument for the distribution and placement of connecting or fastening means
EP0923907A1 (en) 1997-12-19 1999-06-23 Gyrus Medical Limited An electrosurgical instrument
US6033427A (en) 1998-01-07 2000-03-07 Lee; Benjamin I. Method and device for percutaneous sealing of internal puncture sites
WO1999034744A1 (en) 1998-01-09 1999-07-15 Ethicon, Inc. Suture buttress
US6156056A (en) 1998-01-09 2000-12-05 Ethicon, Inc. Suture buttress
EP1045672B1 (en) 1998-01-09 2006-08-02 Ethicon, Inc. Suture buttress
US6620166B1 (en) 1998-01-09 2003-09-16 Ethicon, Inc. Suture buttress system
US6814741B2 (en) 1998-01-09 2004-11-09 Ethicon, Inc. Suture buttress
GB2336214A (en) 1998-01-16 1999-10-13 David William Taylor Preventionof multiple use of limited use devices
US6485490B2 (en) 1998-02-06 2002-11-26 Ethicon Endo-Surgery, Inc. RF bipolar end effector for use in electrosurgical instruments
US6296640B1 (en) 1998-02-06 2001-10-02 Ethicon Endo-Surgery, Inc. RF bipolar end effector for use in electrosurgical instruments
US6468275B1 (en) 1998-02-06 2002-10-22 Ethicon Endo-Surgery, Inc. RF bipolar mesentery takedown device including improved bipolar end effector
US7090683B2 (en) 1998-02-24 2006-08-15 Hansen Medical, Inc. Flexible instrument
RU2141279C1 (en) 1998-03-11 1999-11-20 Кондратюк Георгий Константинович Multipurpose attachment
WO1999045849A1 (en) 1998-03-12 1999-09-16 Shelhigh, Inc. Pericardial strip and stapler assembly for dividing and sealing visceral tissues and method of use thereof
US6099551A (en) 1998-03-12 2000-08-08 Shelhigh, Inc. Pericardial strip and stapler assembly for dividing and sealing visceral tissues and method of use thereof
WO1999048430A1 (en) 1998-03-26 1999-09-30 Gyrus Medical Limited An electrosurgical instrument
EP1067876B1 (en) 1998-04-03 2005-08-17 Gyrus Medical Limited Endoscope
US6277114B1 (en) 1998-04-03 2001-08-21 Gyrus Medical Limited Electrode assembly for an electrosurical instrument
WO1999051158A1 (en) 1998-04-03 1999-10-14 Gyrus Medical Limited An electrode assembly for an electrosurgical instrument
EP1065981B1 (en) 1998-04-03 2006-05-17 Gyrus Medical Limited An electrode assembly for an electrosurgical instrument
US6249076B1 (en) 1998-04-14 2001-06-19 Massachusetts Institute Of Technology Conducting polymer actuator
US6003517A (en) 1998-04-30 1999-12-21 Ethicon Endo-Surgery, Inc. Method for using an electrosurgical device on lung tissue
US6517566B1 (en) 1998-05-11 2003-02-11 Surgical Connections, Inc. Devices and methods for treating e.g. urinary stress incontinence
US20050131173A1 (en) 1998-05-18 2005-06-16 Phillips Petroleum Company Compositions that can produce polymers
US6309403B1 (en) 1998-06-01 2001-10-30 Board Of Trustees Operating Michigan State University Dexterous articulated linkage for surgical applications
US6866178B2 (en) 1998-06-19 2005-03-15 Boston Scientific Scimed, Inc. Integrated surgical staple retainer for a full thickness resectioning device
US6874669B2 (en) 1998-06-19 2005-04-05 Boston Scientific Scimed, Inc. Integrated surgical staple retainer for a full thickness resectioning device
US6126058A (en) 1998-06-19 2000-10-03 Scimed Life Systems, Inc. Method and device for full thickness resectioning of an organ
US6601749B2 (en) 1998-06-19 2003-08-05 Scimed Life Systems, Inc. Multi fire full thickness resectioning device
US6629630B2 (en) 1998-06-19 2003-10-07 Scimed Life Systems, Inc. Non-circular resection device and endoscope
US6331761B1 (en) 1998-06-22 2001-12-18 Stryker Corporation Battery charger capable of evaluating battery charge state based on the charging history of the battery
US6066132A (en) 1998-06-30 2000-05-23 Ethicon, Inc. Articulating endometrial ablation device
US6450391B1 (en) 1998-07-10 2002-09-17 United States Surgical Corporation Apparatus and method for surgical fastening
US6352503B1 (en) 1998-07-17 2002-03-05 Olympus Optical Co., Ltd. Endoscopic surgery apparatus
JP2000033071A (en) 1998-07-17 2000-02-02 Olympus Optical Co Ltd Endoscope therapeutic device
US6258107B1 (en) 1998-08-17 2001-07-10 DEUTSCHES ZENTRUM FüR LUFT-UND RAUMFAHRT E.V. Apparatus for connecting a variety of surgical instruments to an operating control device
US7025743B2 (en) 1998-08-18 2006-04-11 Medtronic Minimed, Inc. External infusion device with remote programming, bolus estimator and/or vibration alarm capabilities
WO2000024330A1 (en) 1998-10-23 2000-05-04 Sherwood Services Ag Open vessel sealing forceps with disposable electrodes
WO2000024322A1 (en) 1998-10-23 2000-05-04 Applied Medical Resources Corporation Surgical grasper with inserts and method of using same
US6682528B2 (en) 1998-10-23 2004-01-27 Sherwood Services Ag Endoscopic bipolar electrosurgical forceps
US5951574A (en) 1998-10-23 1999-09-14 Ethicon Endo-Surgery, Inc. Multiple clip applier having a split feeding mechanism
US6270508B1 (en) 1998-10-26 2001-08-07 Charles H. Klieman End effector and instrument for endoscopic and general surgery needle control
DE19851291A1 (en) 1998-11-06 2000-01-05 Siemens Ag Data input unit suitable for use in operating theatre
US7806891B2 (en) 1998-11-20 2010-10-05 Intuitive Surgical Operations, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6102271A (en) 1998-11-23 2000-08-15 Ethicon Endo-Surgery, Inc. Circular stapler for hemorrhoidal surgery
US7524320B2 (en) 1998-12-08 2009-04-28 Intuitive Surgical, Inc. Mechanical actuator interface system for robotic surgical tools
US6491701B2 (en) 1998-12-08 2002-12-10 Intuitive Surgical, Inc. Mechanical actuator interface system for robotic surgical tools
US6331181B1 (en) 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
JP2000171730A (en) 1998-12-08 2000-06-23 Olympus Optical Co Ltd Battery type portable endoscopic device
US6828902B2 (en) 1998-12-14 2004-12-07 Soundcraft, Inc. Wireless data input to RFID reader
US6126670A (en) 1998-12-16 2000-10-03 Medtronic, Inc. Cordless surgical handpiece with disposable battery; and method
US6334860B1 (en) 1998-12-18 2002-01-01 Karl Storz Gmbh & Co. Kg Bipolar medical instrument
US20040030333A1 (en) 1999-01-15 2004-02-12 Gyrus Medical Ltd. Electrosurgical system and method
WO2000041638A1 (en) 1999-01-15 2000-07-20 Gyrus Medical Limited An electrosurgical system
US6923803B2 (en) 1999-01-15 2005-08-02 Gyrus Medical Limited Electrosurgical system and method
US6336926B1 (en) 1999-01-15 2002-01-08 Gyrus Medical Limited Electrosurgical system
US7001380B2 (en) 1999-01-15 2006-02-21 Gyrus Medical Limited Electrosurgical system and method
US6554861B2 (en) 1999-01-19 2003-04-29 Gyrus Ent L.L.C. Otologic prosthesis
US6936042B2 (en) * 1999-01-22 2005-08-30 Intuitive Surgical Surgical tools for use in minimally invasive telesurgical applications
US6223835B1 (en) 1999-01-29 2001-05-01 Black & Decker Inc. Battery-powered hand-guided power tool
US6387113B1 (en) 1999-02-02 2002-05-14 Biomet, Inc. Method and apparatus for repairing a torn meniscus
US6165175A (en) 1999-02-02 2000-12-26 Ethicon Endo-Surgery, Inc. RF bipolar mesentery takedown device including improved bipolar end effector
US6174309B1 (en) 1999-02-11 2001-01-16 Medical Scientific, Inc. Seal & cut electrosurgical instrument
US6878106B1 (en) 1999-02-15 2005-04-12 Ingo F. Herrmann Deformable fiberscope with a displaceable supplementary device
WO2000048506A1 (en) 1999-02-15 2000-08-24 Herrmann Ingo F Deformable fiberscope with a displaceable supplementary device
US6083242A (en) 1999-02-17 2000-07-04 Holobeam, Inc. Surgical staples with deformation zones of non-uniform cross section
US6806808B1 (en) 1999-02-26 2004-10-19 Sri International Wireless event-recording device with identification codes
US20030153908A1 (en) 1999-03-05 2003-08-14 Gyrus Medical Ltd. Electrosurgery system
US6666875B1 (en) 1999-03-05 2003-12-23 Olympus Optical Co., Ltd. Surgical apparatus permitting recharge of battery-driven surgical instrument in noncontact state
EP1034748A1 (en) 1999-03-05 2000-09-13 Gyrus Medical Limited UHF electrosurgery system
US6398781B1 (en) 1999-03-05 2002-06-04 Gyrus Medical Limited Electrosurgery system
US20040116952A1 (en) 1999-03-05 2004-06-17 Olympus Optical Co., Ltd. Surgical apparatus permitting recharge of battery-driven surgical instrument in noncontact state
EP1158917B1 (en) 1999-03-05 2005-11-09 Gyrus Medical Limited Dual frequency electrosurgery system
US20020022836A1 (en) 1999-03-05 2002-02-21 Gyrus Medical Limited Electrosurgery system
WO2000053112A2 (en) 1999-03-05 2000-09-14 Gyrus Medical Limited Dual frequency electrosurgery system
US6582427B1 (en) 1999-03-05 2003-06-24 Gyrus Medical Limited Electrosurgery system
EP1034747A1 (en) 1999-03-05 2000-09-13 Gyrus Medical Limited Electrosurgery system and instrument
WO2000054653A1 (en) 1999-03-12 2000-09-21 Boston Scientific Limited Controllable endoscopic sheath
US7070559B2 (en) 1999-03-12 2006-07-04 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
US6761685B2 (en) 1999-03-12 2004-07-13 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
US6159146A (en) 1999-03-12 2000-12-12 El Gazayerli; Mohamed Mounir Method and apparatus for minimally-invasive fundoplication
US6179776B1 (en) 1999-03-12 2001-01-30 Scimed Life Systems, Inc. Controllable endoscopic sheath apparatus and related method of use
US6436122B1 (en) 1999-03-17 2002-08-20 Karl Storz Gmbh & Co. Kg Handle for a medical instrument
US6416486B1 (en) 1999-03-31 2002-07-09 Ethicon Endo-Surgery, Inc. Ultrasonic surgical device having an embedding surface and a coagulating surface
WO2000057796A1 (en) 1999-03-31 2000-10-05 Rosenblatt Peter L Systems and methods for soft tissue reconstruction
JP2000287987A (en) 1999-04-01 2000-10-17 Olympus Optical Co Ltd Chargeable battery type medical treatment apparatus
US6228084B1 (en) 1999-04-06 2001-05-08 Kirwan Surgical Products, Inc. Electro-surgical forceps having recessed irrigation channel
US7048687B1 (en) 1999-04-14 2006-05-23 Ob Scientific, Inc. Limited use medical probe
WO2000064365A1 (en) 1999-04-23 2000-11-02 Sdgi Holdings, Inc. Shape memory alloy staple
US6181105B1 (en) 1999-04-26 2001-01-30 Exonix Corporation Self contained transportable power source maintenance and charge
JP2000325303A (en) 1999-05-17 2000-11-28 Olympus Optical Co Ltd Endoscopic therapeutic device
EP1053719A1 (en) 1999-05-21 2000-11-22 Gyrus Medical Limited Electrosurgery system and instrument
US6547786B1 (en) 1999-05-21 2003-04-15 Gyrus Medical Electrosurgery system and instrument
USRE39358E1 (en) 1999-05-21 2006-10-17 Gyrus Medical Limited Electrosurgery system and method
EP1053720A1 (en) 1999-05-21 2000-11-22 Gyrus Medical Limited Electrosurgery system and method
US6228081B1 (en) 1999-05-21 2001-05-08 Gyrus Medical Limited Electrosurgery system and method
US7108695B2 (en) 1999-05-26 2006-09-19 Ethicon Endo-Surgery, Inc. Feedback control in an ultrasonic surgical instrument for improved tissue effects
DE19924311A1 (en) 1999-05-27 2000-11-30 Walter A Rau Clip cutting device to cut body tissue and place staple on at least one side of cut line; has clamp head with staples and pressure plate part, with collagen and fibrin fleece underlay covering staples
EP1055400A1 (en) 1999-05-28 2000-11-29 Gyrus Medical Limited An electrosurgical instrument
US6409724B1 (en) 1999-05-28 2002-06-25 Gyrus Medical Limited Electrosurgical instrument
EP1055399A1 (en) 1999-05-28 2000-11-29 Gyrus Medical Limited An electrosurgical generator and system
WO2000072762A1 (en) 1999-06-02 2000-12-07 Powermed, Inc. Electromechanical driver for an anastomosis surgical stapler
US6846307B2 (en) 1999-06-02 2005-01-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US20100276471A1 (en) 1999-06-02 2010-11-04 Power Medical Interventions, Llc Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US20050192609A1 (en) 1999-06-02 2005-09-01 Whitman Michael P. Electro-mechanical surgical device
US6315184B1 (en) 1999-06-02 2001-11-13 Powermed, Inc. Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments
US6716233B1 (en) 1999-06-02 2004-04-06 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US20040111081A1 (en) 1999-06-02 2004-06-10 Whitman Michael P. Electro-mechanical surgical device
US7077856B2 (en) 1999-06-02 2006-07-18 Power Medical Interventions, Inc. Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
WO2003000138A2 (en) 1999-06-02 2003-01-03 Power Medical Interventions, Inc. Electro-mechanical surgical device with data memory unit
US6981941B2 (en) 1999-06-02 2006-01-03 Power Medical Interventions Electro-mechanical surgical device
US6843403B2 (en) 1999-06-02 2005-01-18 Power Medical Interventions, Inc. Surgical clamping, cutting and stapling device
US6846309B2 (en) 1999-06-02 2005-01-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6846308B2 (en) 1999-06-02 2005-01-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6849071B2 (en) 1999-06-02 2005-02-01 Power Medical Interventions, Inc. Electro-mechanical surgical device
US7032798B2 (en) 1999-06-02 2006-04-25 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6517565B1 (en) 1999-06-02 2003-02-11 Power Medical Interventions, Inc. Carriage assembly for controlling a steering wire steering mechanism within a flexible shaft
US20070055219A1 (en) 1999-06-02 2007-03-08 Whitman Michael P Shaft, e.g., for an electro-mechanical surgical device
US6443973B1 (en) 1999-06-02 2002-09-03 Power Medical Interventions, Inc. Electromechanical driver device for use with anastomosing, stapling, and resecting instruments
WO2000072765A1 (en) 1999-06-02 2000-12-07 Powermed, Inc. An electromechanical driver device for use with anastomosing, stapling, and resecting instruments
JP2003500153A (en) 1999-06-02 2003-01-07 パワー メディカル インターベンションズ,インコーポレイテッド Electromechanical drive mechanism device for use with anastomosis, staple, and resection instruments
US6793652B1 (en) 1999-06-02 2004-09-21 Power Medical Interventions, Inc. Electro-mechanical surgical device
US6550546B2 (en) 1999-06-03 2003-04-22 One World Technologies, Inc. Spindle lock and chipping mechanism for hammer drill
EP1080694A1 (en) 1999-06-11 2001-03-07 Gyrus Medical Limited An electrosurgical generator.
US6220368B1 (en) 1999-06-29 2001-04-24 Microaire Surgical Instruments, Inc. Powered surgical instrument having locking systems and a clutch mechanism
US6488196B1 (en) 1999-06-30 2002-12-03 Axya Medical, Inc. Surgical stapler and method of applying plastic staples to body tissue
US6722552B2 (en) 1999-06-30 2004-04-20 Axya Medical, Inc. Surgical stapler and method of applying plastic staples to body tissue
EP1064883B1 (en) 1999-06-30 2005-08-17 Ethicon, Inc. Foam buttress for stapling apparatus
US6325810B1 (en) 1999-06-30 2001-12-04 Ethicon, Inc. Foam buttress for stapling apparatus
US6117158A (en) 1999-07-07 2000-09-12 Ethicon Endo-Surgery, Inc. Ratchet release mechanism for hand held instruments
US6168605B1 (en) 1999-07-08 2001-01-02 Ethicon Endo-Surgery, Inc. Curved laparoscopic scissor having arcs of curvature
US6698643B2 (en) 1999-07-12 2004-03-02 Power Medical Interventions, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US6264087B1 (en) 1999-07-12 2001-07-24 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
WO2001003587A1 (en) 1999-07-12 2001-01-18 Powermed, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US6505768B2 (en) 1999-07-12 2003-01-14 Power Medical Interventions, Inc. Expanding parallel jaw device for use with an electromechanical driver device
US7114642B2 (en) 1999-07-12 2006-10-03 Power Medical Interventions, Inc. Expanding parallel jaw device for use with an electromechanical driver device
WO2001005702A1 (en) 1999-07-16 2001-01-25 Memc Electronic Materials, Inc. An acidic ozone solution having a high ozone content, a method for preparing the solution, and a cleaning method using the solution
US7699859B2 (en) 1999-07-28 2010-04-20 Cardica, Inc. Method of performing anastomosis
US6398797B2 (en) 1999-07-28 2002-06-04 Cardica, Inc. Tissue bonding system and method for controlling a tissue site during anastomosis
US6391038B2 (en) 1999-07-28 2002-05-21 Cardica, Inc. Anastomosis system and method for controlling a tissue site
US7217285B2 (en) 1999-07-28 2007-05-15 Cardica, Inc. Apparatus for performing anastomosis
US6767352B2 (en) 1999-08-03 2004-07-27 Onux Medical, Inc. Surgical suturing instrument and method of use
US20040034357A1 (en) 1999-08-03 2004-02-19 University Of Massachusetts, A Massachusetts Corporation Controlled release implantable devices
WO2001010482A1 (en) 1999-08-05 2001-02-15 Biocardia, Inc. A system and method for delivering thermally sensitive and reverse-thermal gelation matrials
US6913613B2 (en) 1999-09-09 2005-07-05 Tuebingen Scientific Surgical Products Ohg Surgical instrument for minimally invasive surgical interventions
US7267679B2 (en) 1999-09-13 2007-09-11 Rex Medical, L.P Vascular hole closure device
US7075770B1 (en) 1999-09-17 2006-07-11 Taser International, Inc. Less lethal weapons and methods for halting locomotion
US6636412B2 (en) 1999-09-17 2003-10-21 Taser International, Inc. Hand-held stun gun for incapacitating a human target
EP1086713B1 (en) 1999-09-24 2004-05-19 Tyco Healthcare Group Lp Irrigation system for endoscopic surgery
US6358224B1 (en) 1999-09-24 2002-03-19 Tyco Healthcare Group Lp Irrigation system for endoscopic surgery
EP1090592A1 (en) 1999-10-05 2001-04-11 Ethicon Endo-Surgery Surgical stapler having two staple forming surfaces
US6320123B1 (en) 1999-10-20 2001-11-20 Steven S. Reimers System and method for shielding electrical components from electromagnetic waves
US6749560B1 (en) 1999-10-26 2004-06-15 Circon Corporation Endoscope shaft with slotted tube
US6780151B2 (en) 1999-10-26 2004-08-24 Acmi Corporation Flexible ureteropyeloscope
DE10052679A1 (en) 1999-10-26 2001-05-31 Circon Corp Endoscope has control section and shaft with frame, and pipe containing slits
EP1095627A1 (en) 1999-10-27 2001-05-02 Everest Medical Corporation Electrosurgical probe for surface treatment
US6755195B1 (en) 1999-11-11 2004-06-29 Norbert Lemke Device for controlling an electric appliance used in the sterile area during medical operations
US7018390B2 (en) 1999-11-12 2006-03-28 Edwards Lifesciences Corporation Medical device introducer and obturator
WO2001035845A1 (en) 1999-11-18 2001-05-25 Gyrus Medical Limited Electrosurgical system
US6558379B1 (en) 1999-11-18 2003-05-06 Gyrus Medical Limited Electrosurgical system
US6324339B1 (en) 1999-11-29 2001-11-27 Eveready Battery Company, Inc. Battery pack including input and output waveform modification capability
US6494896B1 (en) 1999-11-30 2002-12-17 Closure Medical Corporation Applicator for laparoscopic or endoscopic surgery
US6522101B2 (en) 1999-12-10 2003-02-18 Stryker Corporation Rechargeable battery with memory that contains charging sequence data
US6752768B2 (en) 1999-12-17 2004-06-22 Ethicon Endo-Surgery Surgical biopsy system with remote control for selecting an operational mode
US6373152B1 (en) 1999-12-17 2002-04-16 Synergy Scientech Corp. Electrical energy storage device
US6197042B1 (en) 2000-01-05 2001-03-06 Medical Technology Group, Inc. Vascular sheath with puncture site closure apparatus and methods of use
US20030205029A1 (en) 2000-01-20 2003-11-06 Chapolini Robert J. Method and apparatus for introducing a non-sterile component into a sterile device
WO2001054594A1 (en) 2000-01-24 2001-08-02 Ethicon Endo-Surgery (Europe) Gmbh Surgical stapling instrument
JP2003521301A (en) 2000-01-24 2003-07-15 エシコン・エンド−サージェリィ・(ヨーロッパ)・ゲーエムベーハー Surgical stapling instrument
US6193129B1 (en) 2000-01-24 2001-02-27 Ethicon Endo-Surgery, Inc. Cutting blade for a surgical anastomosis stapling instrument
US6648816B2 (en) 2000-02-01 2003-11-18 Karl Storz Gmbh & Co. Kg Device for intracorporal, minimal-invasive treatment of a patient
US20040068307A1 (en) 2000-02-08 2004-04-08 Gyrus Medical Limited Surgical instrument
EP1253866B1 (en) 2000-02-08 2006-07-19 Gyrus Medical Limited An electrosurgical instrument and an electrosurgery system including such an instrument
US6758846B2 (en) 2000-02-08 2004-07-06 Gyrus Medical Limited Electrosurgical instrument and an electrosurgery system including such an instrument
US20040181219A1 (en) 2000-02-08 2004-09-16 Gyrus Medical Limited Electrosurgical instrument and an electrosugery system including such an instrument
US20060111711A1 (en) 2000-02-08 2006-05-25 Gyrus Medical Limited Surgical instrument
WO2001058371A1 (en) 2000-02-08 2001-08-16 Gyrus Medical Limited An electrosurgical instrument and an electrosurgery system including such an instrument
US6589164B1 (en) 2000-02-15 2003-07-08 Transvascular, Inc. Sterility barriers for insertion of non-sterile apparatus into catheters or other medical devices
US20040186470A1 (en) 2000-02-22 2004-09-23 Gyrus Medical Limited Tissue resurfacing
US6723091B2 (en) 2000-02-22 2004-04-20 Gyrus Medical Limited Tissue resurfacing
US6488197B1 (en) 2000-02-22 2002-12-03 Power Medical Interventions, Inc. Fluid delivery device for use with anastomosing resecting and stapling instruments
US6629974B2 (en) 2000-02-22 2003-10-07 Gyrus Medical Limited Tissue treatment method
US6695199B2 (en) 2000-02-22 2004-02-24 Power Medical Interventions, Inc. Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
WO2001062162A1 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. A fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
WO2001062158A2 (en) 2000-02-22 2001-08-30 Power Medical Interventions Inc. A fluid delivery device
WO2001062161A1 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. A tissue stapling attachment for use with an electromechanical driver device
WO2001062169A2 (en) 2000-02-22 2001-08-30 Gyrus Medical Limited Plasma device for tissue resurfacing
US6681979B2 (en) 2000-02-22 2004-01-27 Power Medical Interventions, Inc. Fluid delivery device for use with anastomosing stapling, and resecting instruments
US6491201B1 (en) 2000-02-22 2002-12-10 Power Medical Interventions, Inc. Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments
WO2001062164A2 (en) 2000-02-22 2001-08-30 Power Medical Interventions, Inc. An electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities
US6273897B1 (en) 2000-02-29 2001-08-14 Ethicon, Inc. Surgical bettress and surgical stapling apparatus
EP1129665B1 (en) 2000-02-29 2006-11-15 Ethicon, Inc. Buttress for surgical stapling apparatus
JP2001286477A (en) 2000-02-29 2001-10-16 Ethicon Inc Surgical buttress and surgical stapling apparatus
US7179267B2 (en) 2000-03-06 2007-02-20 Tyco Healthcare Group Lp Apparatus and method for performing a bypass procedure in a digestive system
US7156863B2 (en) 2000-03-16 2007-01-02 Medigus Ltd. Fundoplication apparatus and method
US6510854B2 (en) 2000-03-16 2003-01-28 Gyrus Medical Limited Method of treatment of prostatic adenoma
US20050085693A1 (en) 2000-04-03 2005-04-21 Amir Belson Activated polymer articulated instruments and methods of insertion
US20060015009A1 (en) 2000-04-03 2006-01-19 Ross Jaffe Endoscope having a guide tube
US20050124855A1 (en) 2000-04-03 2005-06-09 Ross Jaffe Endoscope having a guide tube
US20050154258A1 (en) 2000-04-03 2005-07-14 Tartaglia Joseph M. Endoscope with adjacently positioned guiding apparatus
US6984203B2 (en) 2000-04-03 2006-01-10 Neoguide Systems, Inc. Endoscope with adjacently positioned guiding apparatus
WO2001078605A2 (en) 2000-04-13 2001-10-25 Boston Scientific Corporation Magnetic clutch for the drive shaft of a catheter
RU2187249C2 (en) 2000-04-27 2002-08-20 Общество с ограниченной ответственностью "ЭНДОМЕДИУМ+" Surgical instrument
US6387114B2 (en) 2000-04-28 2002-05-14 Scimed Life Systems, Inc. Gastrointestinal compression clips
US6419695B1 (en) 2000-05-22 2002-07-16 Shlomo Gabbay Cardiac prosthesis for helping improve operation of a heart valve
WO2001091646A1 (en) 2000-05-30 2001-12-06 Ethicon Endo-Surgery (Europe) Gmbh Surgical stapling instrument
US6492785B1 (en) 2000-06-27 2002-12-10 Deere & Company Variable current limit control for vehicle electric drive system
US20080172087A1 (en) 2000-06-28 2008-07-17 Alexander Von Fuchs Anti-slip protection device for a housing head of medical instruments
WO2002007608A2 (en) 2000-07-20 2002-01-31 Tiva Medical, Inc. Hand-actuated articulating surgical tool
WO2002007618A1 (en) 2000-07-21 2002-01-31 Atropos Limited A cannula
US6972199B2 (en) 2000-07-25 2005-12-06 Verimetra, Inc. Method of making a cutting instrument having integrated sensors
US20050107824A1 (en) 2000-08-30 2005-05-19 Hillstead Richard A. Medical instrument
US6830174B2 (en) 2000-08-30 2004-12-14 Cerebral Vascular Applications, Inc. Medical instrument
WO2002017799A1 (en) 2000-08-30 2002-03-07 Cerebral Vascular Applications Inc. Medical instrument
US20040093024A1 (en) 2000-09-01 2004-05-13 James Lousararian Advanced wound site management systems and methods
US6767356B2 (en) 2000-09-01 2004-07-27 Angiolink Corporation Advanced wound site management systems and methods
WO2002019932A1 (en) 2000-09-05 2002-03-14 Gyrus Medical Limited Electrosurgery system
WO2002019920A1 (en) 2000-09-08 2002-03-14 Coleman James E Surgical staple
US6616686B2 (en) 2000-09-08 2003-09-09 James Coleman Surgical staples and methods for stapling
US6641528B2 (en) 2000-09-08 2003-11-04 Fuji Photo Optical Co., Ltd. Bending part of endoscope
US6712773B1 (en) 2000-09-11 2004-03-30 Tyco Healthcare Group Lp Biopsy system
US7189207B2 (en) 2000-09-11 2007-03-13 Tyco Healthcare Group Lp Biopsy system having a single use loading unit operable with a trocar driver, a knife driver and firing module
US6889116B2 (en) 2000-09-29 2005-05-03 Kabushiki Kaisha Toshiba Manipulator
US7303556B2 (en) 2000-10-04 2007-12-04 Synthes Device for supplying an electro-pen with electrical energy
US20040164123A1 (en) 2000-10-13 2004-08-26 Racenet David C. Surgical stapling device
US7055730B2 (en) 2000-10-13 2006-06-06 Tyco Healthcare Group Lp Surgical fastener applying apparatus
WO2002030297A2 (en) 2000-10-13 2002-04-18 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US6817508B1 (en) 2000-10-13 2004-11-16 Tyco Healthcare Group, Lp Surgical stapling device
US20050263563A1 (en) 2000-10-13 2005-12-01 Racenet David C Surgical stapling device
US7140527B2 (en) 2000-10-13 2006-11-28 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US7568604B2 (en) 2000-10-13 2009-08-04 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US6551333B2 (en) 2000-10-19 2003-04-22 Ethicon Endo-Surgery, Inc. Method for attaching hernia mesh
US6773438B1 (en) 2000-10-19 2004-08-10 Ethicon Endo-Surgery Surgical instrument having a rotary lockout mechanism
US20040006372A1 (en) 2000-10-20 2004-01-08 Racenet David C. Directionally biased staple and method of manufacturing
US7398907B2 (en) 2000-10-20 2008-07-15 Tyco Healthcare Group Lp Directionally biased staple and anvil assembly for forming the staple
US20040267310A1 (en) 2000-10-20 2004-12-30 Racenet David C Directionally biased staple and anvil assembly for forming the staple
US20040230214A1 (en) 2000-10-20 2004-11-18 Donofrio William T. Finger operated switch for controlling a surgical handpiece
WO2002032322A2 (en) 2000-10-20 2002-04-25 United States Surgical Directionally biased staple and anvil assembly for forming the staple
US7611038B2 (en) 2000-10-20 2009-11-03 Tyco Healthcare Group Lp Directionally biased staple and anvil assembly for forming the staple
US7273483B2 (en) 2000-10-20 2007-09-25 Ethicon Endo-Surgery, Inc. Apparatus and method for alerting generator functions in an ultrasonic surgical system
US6913608B2 (en) 2000-10-23 2005-07-05 Viacor, Inc. Automated annular plication for mitral valve repair
US6893435B2 (en) 2000-10-31 2005-05-17 Gyrus Medical Limited Electrosurgical system
WO2002036028A1 (en) 2000-10-31 2002-05-10 Gyrus Medical Limited An electrosurgical system
US6843789B2 (en) 2000-10-31 2005-01-18 Gyrus Medical Limited Electrosurgical system
US20030139741A1 (en) 2000-10-31 2003-07-24 Gyrus Medical Limited Surgical instrument
EP1330201B1 (en) 2000-10-31 2008-06-04 Gyrus Medical Limited An electrosurgical system
JP2002143078A (en) 2000-11-08 2002-05-21 Olympus Optical Co Ltd Outside tube for endoscope
US6872214B2 (en) 2000-11-20 2005-03-29 Medigus Ltd. Stapler for endoscopes
US20050125009A1 (en) 2000-11-27 2005-06-09 Perry Stephen J. Full thickness resection device control handle
WO2002043571A2 (en) 2000-11-28 2002-06-06 Power Medical Interventions, Inc. Electro-mechanical surgical device
US7081114B2 (en) 2000-11-29 2006-07-25 St. Jude Medical, Atrial Fibrillation Division, Inc. Electrophysiology/ablation catheter having lariat configuration of variable radius
US6638108B2 (en) 2000-11-30 2003-10-28 Sumitomo Wiring Systems, Ltd. Connector with plural housings accommodated in a casing
US6439446B1 (en) 2000-12-01 2002-08-27 Stephen J. Perry Safety lockout for actuator shaft
US6406440B1 (en) 2000-12-21 2002-06-18 Ethicon Endo-Surgery, Inc. Specimen retrieval bag
US6503259B2 (en) 2000-12-27 2003-01-07 Ethicon, Inc. Expandable anastomotic device
US6482200B2 (en) 2001-01-03 2002-11-19 Ronald D. Shippert Cautery apparatus and method
WO2002058568A1 (en) 2001-01-24 2002-08-01 Tyco Healthcare Group Lp Anastomosis instrument and method for performing same
US20020134811A1 (en) 2001-01-29 2002-09-26 Senco Products, Inc. Multi-mode power tool utilizing attachment
US6835199B2 (en) 2001-01-31 2004-12-28 Rex Medical, L.P. Apparatus and method for resectioning gastro-esophageal tissue
US7090684B2 (en) 2001-01-31 2006-08-15 Rex Medical, Lp Apparatus and method for resectioning gastro-esophageal tissue
WO2002060328A1 (en) 2001-01-31 2002-08-08 Rex Medical, Inc. Apparatus and method for stapling and resectioning gastro-esophageal tissue
US20060241692A1 (en) 2001-01-31 2006-10-26 Mcguckin James F Jr Apparatus and method for resectioning gastro-esophageal tissue
US20050165419A1 (en) 2001-02-02 2005-07-28 Sauer Jude S. System for endoscopic suturing
US6997931B2 (en) 2001-02-02 2006-02-14 Lsi Solutions, Inc. System for endoscopic suturing
US20040034369A1 (en) 2001-02-02 2004-02-19 Sauer Jude S. System for endoscopic suturing
US6786864B2 (en) 2001-02-06 2004-09-07 Olympus Corporation Endoscopic system and method for positioning an indwelling tube
US7766894B2 (en) 2001-02-15 2010-08-03 Hansen Medical, Inc. Coaxial catheter system
WO2002067785A2 (en) 2001-02-27 2002-09-06 Tyco Healthcare Group Lp External mixer assembly
US6569171B2 (en) 2001-02-28 2003-05-27 Microline, Inc. Safety locking mechanism for a medical clip device
US6682527B2 (en) 2001-03-13 2004-01-27 Perfect Surgical Techniques, Inc. Method and system for heating tissue with a bipolar instrument
US20040222268A1 (en) 2001-03-29 2004-11-11 Federico Bilotti Surgical stapling instrument
US7080769B2 (en) 2001-04-02 2006-07-25 Vresh Susan E Luminal anastomotic device
US6945444B2 (en) 2001-04-03 2005-09-20 Tyco Healthcare Group, Lp Surgical stapling device for performing circular anastomoses
US7234624B2 (en) 2001-04-03 2007-06-26 Tyco Healthcare Group Lp Surgical stapling device for performing circular anastomoses
US6605669B2 (en) 2001-04-03 2003-08-12 E. I. Du Pont De Nemours And Company Radiation-curable coating compounds
US7090673B2 (en) 2001-04-06 2006-08-15 Sherwood Services Ag Vessel sealer and divider
US7473253B2 (en) 2001-04-06 2009-01-06 Covidien Ag Vessel sealer and divider with non-conductive stop members
US6638285B2 (en) 2001-04-16 2003-10-28 Shlomo Gabbay Biological tissue strip and system and method to seal tissue
US6783524B2 (en) * 2001-04-19 2004-08-31 Intuitive Surgical, Inc. Robotic surgical tool with ultrasound cauterizing and cutting instrument
US6994708B2 (en) 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
US20020165541A1 (en) 2001-04-20 2002-11-07 Whitman Michael P. Bipolar or ultrasonic surgical device
US7351258B2 (en) 2001-04-20 2008-04-01 The Research Foundation Of State University Of New York At Stony Brook Apparatus and method for fixation of vascular grafts
US7063712B2 (en) 2001-04-27 2006-06-20 Cardica, Inc. Anastomosis method
US6656193B2 (en) 2001-05-07 2003-12-02 Ethicon Endo-Surgery, Inc. Device for attachment of buttress material to a surgical fastening device
EP1759640B1 (en) 2001-05-07 2008-12-17 Ethicon Endo-Surgery, Inc. Device for attachment of buttress material to a surgical fastening device
JP2002369820A (en) 2001-05-07 2002-12-24 Ethicon Endo Surgery Inc Surgical tissue stapling instrument and staple cartridge, attached to its end effecter
US6592597B2 (en) 2001-05-07 2003-07-15 Ethicon Endo-Surgery, Inc. Adhesive for attaching buttress material to a surgical fastening device
US6503257B2 (en) 2001-05-07 2003-01-07 Ethicon Endo-Surgery, Inc. Method for releasing buttress material attached to a surgical fastening device
EP1256318B1 (en) 2001-05-07 2005-02-23 Ethicon Endo-Surgery, Inc. Adhesive for attaching buttress material to a surgical fastening device
EP1256317B1 (en) 2001-05-07 2006-12-27 Ethicon Endo-Surgery, Inc. Device for attachment of buttress material to a surgical fastening device
US6827725B2 (en) 2001-05-10 2004-12-07 Gyrus Medical Limited Surgical instrument
US20040078037A1 (en) 2001-05-10 2004-04-22 Gyrus Medical Limited Surgical instrument
US7235302B2 (en) 2001-05-21 2007-06-26 3M Innovative Properties Company Fluoropolymer bonding composition and method
WO2002098302A1 (en) 2001-06-07 2002-12-12 Christy Cummins Surgical staple
US7108709B2 (en) 2001-06-07 2006-09-19 Christy Cummins Surgical staple
DE20121753U1 (en) 2001-06-15 2003-04-17 Bema Gmbh & Co Kg Endochirurgi Handle for a surgical instrument comprises a locking device having a sliding element attached to one handle part and axially moving in a clamping housing attached to the other handle part
WO2003001329A2 (en) 2001-06-20 2003-01-03 Power Medical Interventions, Inc. A method and system for integrated medical tracking
US7691098B2 (en) 2001-06-29 2010-04-06 Intuitive Surgical, Inc. Platform link wrist mechanism
US6817974B2 (en) 2001-06-29 2004-11-16 Intuitive Surgical, Inc. Surgical tool having positively positionable tendon-actuated multi-disk wrist joint
US6699235B2 (en) 2001-06-29 2004-03-02 Intuitive Surgical, Inc. Platform link wrist mechanism
CN2488482Y (en) 2001-07-05 2002-05-01 天津市华志计算机应用有限公司 Joint locking mechanism for mechanical arm
US6679410B2 (en) 2001-07-19 2004-01-20 Hilti Aktiengesellschaft Setting tool with a setting depth control
DE20112837U1 (en) 2001-08-02 2001-10-04 Aesculap Ag & Co Kg Forceps or tweezers shaped surgical instrument
US7208005B2 (en) 2001-08-06 2007-04-24 The Penn State Research Foundation Multifunctional tool and method for minimally invasive surgery
EP1285633B1 (en) 2001-08-07 2006-12-13 Universitair Medisch Centrum Utrecht Device for connecting a surgical instrument to a stable basis
US20030093103A1 (en) 2001-08-08 2003-05-15 Don Malackowski Surgical tool system with components that perform inductive data transfer
WO2003013363A1 (en) 2001-08-09 2003-02-20 Christy Cummins Surgical stapling device and method
US7008435B2 (en) 2001-08-09 2006-03-07 Christy Cummins Surgical stapling device and method
EP1284120A1 (en) 2001-08-09 2003-02-19 Ingo F. Prof. Dr. Herrmann Disposable endoscope sheath
US6569085B2 (en) 2001-08-16 2003-05-27 Syntheon, Llc Methods and apparatus for delivering a medical instrument over an endoscope while the endoscope is in a body lumen
WO2003015604A2 (en) 2001-08-16 2003-02-27 Is, Llc Apparatus for delivering instrument over endoscope
US20030195387A1 (en) 2001-08-16 2003-10-16 Syntheon, Llc Methods and appartus for delivering a medical instrument over an endoscope while the endoscope is in a body lumen
US6705503B1 (en) 2001-08-20 2004-03-16 Tricord Solutions, Inc. Electrical motor driven nail gun
US7442201B2 (en) 2001-08-23 2008-10-28 Boston Scientific Scimed, Inc. Impermanent biocompatible fastener
US6692507B2 (en) 2001-08-23 2004-02-17 Scimed Life Systems, Inc. Impermanent biocompatible fastener
US20040097987A1 (en) 2001-08-23 2004-05-20 Pugsley Charles H. Impermanent biocompatible fastener
US7563862B2 (en) 2001-08-24 2009-07-21 Neuren Pharmaceuticals Limited Neural regeneration peptides and methods for their use in treatment of brain damage
US20050113820A1 (en) 2001-08-27 2005-05-26 Gyrus Medical Limited Electrosurgical generator and system
US7153300B2 (en) 2001-08-27 2006-12-26 Gyrus Medical Limited Electrosurgical system
US6929641B2 (en) 2001-08-27 2005-08-16 Gyrus Medical Limited Electrosurgical system
US20060047275A1 (en) 2001-08-27 2006-03-02 Gyrus Medical Limited Electrical generator and system
EP1287788A1 (en) 2001-08-27 2003-03-05 Gyrus Medical Limited Electrosurgical system
US6984231B2 (en) 2001-08-27 2006-01-10 Gyrus Medical Limited Electrosurgical system
WO2004078051A2 (en) 2001-08-27 2004-09-16 Gyrus Medial Limited Electrosurgical system
US6808525B2 (en) 2001-08-27 2004-10-26 Gyrus Medical, Inc. Bipolar electrosurgical hook probe for cutting and coagulating tissue
US6966907B2 (en) 2001-08-27 2005-11-22 Gyrus Medical Limited Electrosurgical generator and system
US7282048B2 (en) 2001-08-27 2007-10-16 Gyrus Medical Limited Electrosurgical generator and system
WO2003020106A2 (en) 2001-08-28 2003-03-13 Ethicon, Inc. Composite staple for completing an anastomosis
US6629988B2 (en) 2001-08-28 2003-10-07 Ethicon, Inc. Composite staple for completing an anastomosis
US20070213750A1 (en) 2001-08-28 2007-09-13 Ethicon, Inc. Composite Staple for Completing an Anastomosis
CA2458946A1 (en) 2001-08-28 2003-03-13 Ethicon, Inc. Composite staple for completing an anastomosis
US7220272B2 (en) 2001-08-28 2007-05-22 Ethicon, Inc. Composite staple and method for using same
US20040243176A1 (en) 2001-08-29 2004-12-02 Hahnen Kevin F. Medical instrument
US6755338B2 (en) 2001-08-29 2004-06-29 Cerebral Vascular Applications, Inc. Medical instrument
WO2003020139A2 (en) 2001-09-03 2003-03-13 Vleugels Michel Petronella Hub Surgical instrument
US7300450B2 (en) 2001-09-03 2007-11-27 Vleugels Holding B.V. Surgical instrument
US6747121B2 (en) 2001-09-05 2004-06-08 Synthes (Usa) Poly(L-lactide-co-glycolide) copolymers, methods for making and using same, and devices containing same
US7052494B2 (en) 2001-09-21 2006-05-30 Gyrus Medical Limited Surgical system and method
WO2003024339A1 (en) 2001-09-21 2003-03-27 Gyrus Medical Limited Surgical system and method for cutting and coagulation
US7252660B2 (en) 2001-09-25 2007-08-07 Reiner Kunz Multifunctional instrument for use in microinvasive surgery
US6834001B2 (en) 2001-09-26 2004-12-21 Sanyo Electric Co., Ltd. Multi-stage switched capacitor DC-DC converter
US6578751B2 (en) 2001-09-26 2003-06-17 Scimed Life Systems, Inc. Method of sequentially firing staples using springs and a rotary or linear shutter
US20080287944A1 (en) 2001-09-28 2008-11-20 Angiodynamics, Inc. Tissue ablation apparatus and method
US7108701B2 (en) 2001-09-28 2006-09-19 Ethicon, Inc. Drug releasing anastomosis devices and methods for treating anastomotic sites
US7334717B2 (en) 2001-10-05 2008-02-26 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US7188758B2 (en) 2001-10-05 2007-03-13 Tyco Healthcare Group Lp Surgical stapling apparatus and method
WO2003030743A2 (en) 2001-10-05 2003-04-17 Tyco Healthcare Group Lp Surgical stapling device
US7631793B2 (en) 2001-10-05 2009-12-15 Tyco Healthcare Group Lp Surgical fastener applying apparatus
US20040232201A1 (en) 2001-10-05 2004-11-25 Thomas Wenchell Surgical stapling device
US7032799B2 (en) 2001-10-05 2006-04-25 Tyco Healthcare Group Lp Surgical stapling apparatus and method
US6905497B2 (en) 2001-10-22 2005-06-14 Surgrx, Inc. Jaw structure for electrosurgical instrument
US20060020336A1 (en) 2001-10-23 2006-01-26 Liddicoat John R Automated annular plication for mitral valve repair
WO2003037193A1 (en) 2001-10-30 2003-05-08 Eurosurgical Sa Surgical instrument
US6716223B2 (en) 2001-11-09 2004-04-06 Micrus Corporation Reloadable sheath for catheter system for deploying vasoocclusive devices
US6471106B1 (en) 2001-11-15 2002-10-29 Intellectual Property Llc Apparatus and method for restricting the discharge of fasteners from a tool
US6605078B2 (en) 2001-11-26 2003-08-12 Scimed Life Systems, Inc. Full thickness resection device
US6978922B2 (en) 2001-11-28 2005-12-27 Ethicon Endo-Surgery (Europe) G.M.B.H. Surgical stapling instrument
US6671185B2 (en) 2001-11-28 2003-12-30 Landon Duval Intelligent fasteners
US7083073B2 (en) 2001-11-29 2006-08-01 Max Co., Ltd. Electric stapler
WO2003047436A3 (en) 2001-11-30 2003-11-20 Power Med Interventions Inc Surgical cutting and stapling device
US20030105478A1 (en) 2001-11-30 2003-06-05 Whitman Michael P. Surgical device
US7803151B2 (en) 2001-12-04 2010-09-28 Power Medical Interventions, Llc System and method for calibrating a surgical instrument
US6685727B2 (en) 2001-12-07 2004-02-03 Bio-Seal, Llc Bioabsorbable sealant
US7207233B2 (en) 2001-12-13 2007-04-24 Black & Decker Inc. Mechanism for use in a power tool and a power tool including such a mechanism
US6723087B2 (en) 2001-12-14 2004-04-20 Medtronic, Inc. Apparatus and method for performing surgery on a patient
US7122028B2 (en) 2001-12-19 2006-10-17 Allegiance Corporation Reconfiguration surgical apparatus
US6974462B2 (en) 2001-12-19 2005-12-13 Boston Scientific Scimed, Inc. Surgical anchor implantation device
US6939358B2 (en) 2001-12-20 2005-09-06 Gore Enterprise Holdings, Inc. Apparatus and method for applying reinforcement material to a surgical stapler
RU2225170C2 (en) 2001-12-25 2004-03-10 Дубровский Аркадий Вениаминович Instrument having rotation device
US20060264929A1 (en) 2001-12-27 2006-11-23 Gyrus Group Plc Surgical system
US6942662B2 (en) 2001-12-27 2005-09-13 Gyrus Group Plc Surgical Instrument
US7211084B2 (en) 2001-12-27 2007-05-01 Gyrus Group Plc Surgical system
WO2003055402A1 (en) 2001-12-27 2003-07-10 Gyrus Group Plc A surgical instrument
US6832998B2 (en) 2001-12-27 2004-12-21 Gyrus Group Plc Surgical instrument
US6990796B2 (en) 2001-12-28 2006-01-31 The Schnipke Family Limited Liability Company Robotic loader for surgical stapling cartridge
US6602252B2 (en) 2002-01-03 2003-08-05 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
US7396356B2 (en) 2002-01-03 2008-07-08 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
WO2003057058A1 (en) 2002-01-03 2003-07-17 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
US6821273B2 (en) 2002-01-03 2004-11-23 Starion Instruments Corporation Combined dissecting, cauterizing, and stapling device
US20060079735A1 (en) 2002-01-04 2006-04-13 Stephen Martone Endoscope assemblies having working channels with reduced bending and stretching resistance
US6740030B2 (en) 2002-01-04 2004-05-25 Vision Sciences, Inc. Endoscope assemblies having working channels with reduced bending and stretching resistance
US7056284B2 (en) 2002-01-04 2006-06-06 Vision Sciences, Inc. Endoscope assemblies having working channels with reduced bending and stretching resistance
WO2003057048A1 (en) 2002-01-08 2003-07-17 Power Medical Interventions, Inc. A surgical device
US20030130677A1 (en) 2002-01-08 2003-07-10 Whitman Michael P. Surgical device
EP1473819A1 (en) 2002-01-16 2004-11-03 Toyota Jidosha Kabushiki Kaisha Voltage converter control apparatus, voltage conversion method, storage medium, program, drive system, and vehicle having the drive system
US6676660B2 (en) 2002-01-23 2004-01-13 Ethicon Endo-Surgery, Inc. Feedback light apparatus and method for use with an electrosurgical instrument
US7104741B2 (en) 2002-01-29 2006-09-12 Joh. Friedrich Behrens Ag Fastening means and process for its manufacture
US7530985B2 (en) 2002-01-30 2009-05-12 Olympus Corporation Endoscopic suturing system
WO2003063694A1 (en) 2002-01-30 2003-08-07 Power Medical Interventions, Inc. Surgical imaging device
US7501198B2 (en) 2002-02-07 2009-03-10 Linvatec Corporation Sterile transfer battery container
US7494499B2 (en) 2002-02-15 2009-02-24 Olympus Corporation Surgical therapeutic instrument
EP1477119A1 (en) 2002-02-20 2004-11-17 New X-national Technology K.K. Drug administration method
WO2003077769A1 (en) 2002-03-15 2003-09-25 Power Medical Interventions, Inc. Drive shaft for an electro-mechanical surgical device
US6966909B2 (en) 2002-03-15 2005-11-22 Gyrus Medical Limited Surgical instrument
WO2003079909A3 (en) 2002-03-19 2004-03-04 Tyco Healthcare Surgical fastener applying apparatus
US20050131436A1 (en) 2002-03-22 2005-06-16 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
US20050165435A1 (en) 2002-03-22 2005-07-28 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
USD478986S1 (en) 2002-03-22 2003-08-26 Gyrus Ent L.L.C. Surgical tool
WO2003079911A1 (en) 2002-03-22 2003-10-02 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
US7247161B2 (en) 2002-03-22 2007-07-24 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
USD484596S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
US20050131437A1 (en) 2002-03-22 2005-06-16 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
US20050107814A1 (en) 2002-03-22 2005-05-19 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
EP1487359B1 (en) 2002-03-22 2007-10-10 Gyrus Ent, L.L.C. Powered surgical apparatus
USD484243S1 (en) 2002-03-22 2003-12-23 Gyrus Ent L.L.C. Surgical tool blade holder
USD484977S1 (en) 2002-03-22 2004-01-06 Gyrus Ent L.L.C. Surgical tool blade holder
USD484595S1 (en) 2002-03-22 2003-12-30 Gyrus Ent L.L.C. Surgical tool blade holder
US20050187572A1 (en) 2002-03-22 2005-08-25 Gyrus Ent L.L.C. Powered surgical apparatus, method of manufacturing powered surgical apparatus, and method of using powered surgical apparatus
USD478665S1 (en) 2002-03-22 2003-08-19 Gyrus Ent L.L.C. Disposable trigger
WO2003082126A1 (en) 2002-03-26 2003-10-09 Synovis Life Technologies, Inc. Circular stapler buttress combination
US7776060B2 (en) 2002-03-26 2010-08-17 Synovis Life Technologies, Inc. Circular stapler buttress combination
US7128748B2 (en) 2002-03-26 2006-10-31 Synovis Life Technologies, Inc. Circular stapler buttress combination
US7070083B2 (en) 2002-04-11 2006-07-04 Tyco Healthcare Group Lp Surgical stapling apparatus including an anvil and cartridge each having cooperating mating surfaces
US20050189397A1 (en) 2002-04-11 2005-09-01 Tyco Healthcare Group, Inc. Surgical stapling apparatus including an anvil and cartridge each having cooperating mating surfaces
US7377928B2 (en) 2002-04-15 2008-05-27 Cook Biotech Incorporated Apparatus and method for producing a reinforced surgical staple line
US7846149B2 (en) 2002-04-15 2010-12-07 Tyco Healthcare Group Lp Instrument introducer
US20050184121A1 (en) 2002-04-16 2005-08-25 Russell Heinrich Surgical stapler and method
WO2003088845A2 (en) 2002-04-16 2003-10-30 Tyco Healthcare Group, Lp Surgical stapler and method
US20030220660A1 (en) 2002-04-24 2003-11-27 Kortenbach Juergen A. Tissue fastening devices and processes that promote tissue adhesion
US20050131390A1 (en) 2002-04-25 2005-06-16 Russell Heinrich Surgical instruments including mems devices
JP2005523105A (en) 2002-04-25 2005-08-04 タイコ ヘルスケア グループ エルピー Surgical instruments including microelectromechanical systems (MEMS)
WO2003090630A2 (en) 2002-04-25 2003-11-06 Tyco Healthcare Group, Lp Surgical instruments including micro-electromechanical systems (mems)
US20050169974A1 (en) 2002-05-08 2005-08-04 Radi Medical Systems Ab Dissolvable medical sealing device
US7431730B2 (en) 2002-05-10 2008-10-07 Tyco Healthcare Group Lp Surgical stapling apparatus having a wound closure material applicator assembly
US20050192628A1 (en) 2002-05-10 2005-09-01 Viola Frank J. Surgical stapling apparatus having a wound closure material applicator assembly
US7207471B2 (en) 2002-05-10 2007-04-24 Tyco Healthcare Group Lp Electrosurgical stapling apparatus
WO2003094743A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Wound closure material applicator and stapler
WO2003094746A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Surgical stapling apparatus having a wound closure material applicator assembly
US7238195B2 (en) 2002-05-10 2007-07-03 Tyco Healthcare Group Lp Wound closure material applicator and stapler
WO2003094745A1 (en) 2002-05-10 2003-11-20 Tyco Healthcare Group, Lp Electrosurgical stapling apparatus
JP2005524474A (en) 2002-05-10 2005-08-18 タイコ ヘルスケア グループ エルピー Wound closure material applicator and stapler
WO2003094747A1 (en) 2002-05-13 2003-11-20 Tyco Healthcare Group, Lp Surgical stapler and disposable loading unit having different size staples
US20030216732A1 (en) 2002-05-20 2003-11-20 Csaba Truckai Medical instrument with thermochromic or piezochromic surface indicators
US6638297B1 (en) 2002-05-30 2003-10-28 Ethicon Endo-Surgery, Inc. Surgical staple
US7056330B2 (en) 2002-05-31 2006-06-06 Ethicon Endo-Surgery, Inc. Method for applying tissue fastener
US6543456B1 (en) 2002-05-31 2003-04-08 Ethicon Endo-Surgery, Inc. Method for minimally invasive surgery in the digestive system
US6769594B2 (en) 2002-05-31 2004-08-03 Tyco Healthcare Group, Lp End-to-end anastomosis instrument and method for performing same
US20050267455A1 (en) 2002-05-31 2005-12-01 Eggers Philip E Electrosurgery with infiltration anesthesia
WO2003101313A1 (en) 2002-05-31 2003-12-11 Cerebral Vascular Applications, Inc. Medical instrument
US6790173B2 (en) 2002-06-13 2004-09-14 Usgi Medical, Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20050137455A1 (en) 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20050137454A1 (en) 2002-06-13 2005-06-23 Usgi Medical Corp. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US6960163B2 (en) 2002-06-13 2005-11-01 Usgi Medical Inc. Shape lockable apparatus and method for advancing an instrument through unsupported anatomy
US20040094597A1 (en) 2002-06-14 2004-05-20 Whitman Michael P. Surgical device
WO2003105702A2 (en) 2002-06-14 2003-12-24 Power Medical Interventions, Inc. Surgical device
US7743960B2 (en) 2002-06-14 2010-06-29 Power Medical Interventions, Llc Surgical device
US7744627B2 (en) 2002-06-17 2010-06-29 Tyco Healthcare Group Lp Annular support structures
US8257391B2 (en) 2002-06-17 2012-09-04 Tyco Healthcare Group Lp Annular support structures
WO2003105698A2 (en) 2002-06-17 2003-12-24 Tyco Healthcare Group, Lp Annular support structures
US20050245965A1 (en) 2002-06-17 2005-11-03 Orban Iii Joseph P Annular support structures
US7112214B2 (en) 2002-06-25 2006-09-26 Incisive Surgical, Inc. Dynamic bioabsorbable fastener for use in wound closure
US7220260B2 (en) 2002-06-27 2007-05-22 Gyrus Medical Limited Electrosurgical system
EP1374788A1 (en) 2002-06-27 2004-01-02 Gyrus Medical Limited Electrosurgical system
US20040002726A1 (en) 2002-06-28 2004-01-01 George Nunez Balloon-type actuator for surgical applications
US20040006340A1 (en) 2002-07-02 2004-01-08 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting, desiccating and sealing tissue
US7033356B2 (en) 2002-07-02 2006-04-25 Gyrus Medical, Inc. Bipolar electrosurgical instrument for cutting desiccating and sealing tissue
US20040006335A1 (en) 2002-07-08 2004-01-08 Garrison Lawrence L. Cauterizing surgical saw
WO2004006980A2 (en) 2002-07-11 2004-01-22 Sightline Technologies Ltd. Piston-actuated endoscopic steering system
US7071287B2 (en) 2002-07-22 2006-07-04 Aspen Aerogels, Inc. Aerogel metallic compositions
US7094247B2 (en) 2002-07-22 2006-08-22 Niti Medical Technologies Ltd. Intussusception and anastomosis apparatus
WO2004011037A2 (en) 2002-07-31 2004-02-05 Tyco Heathcare Group, Lp Tool member cover and cover deployment device
US7179223B2 (en) 2002-08-06 2007-02-20 Olympus Optical Co., Ltd. Endoscope apparatus having an internal channel
US20070118175A1 (en) 2002-08-08 2007-05-24 John Butler Device
WO2004019769A1 (en) 2002-08-27 2004-03-11 Neoguide Systems, Inc. Tendon-dirven endoscope and methods of insertion
US20040044364A1 (en) 2002-08-29 2004-03-04 Devries Robert Tissue fasteners and related deployment systems and methods
US6981978B2 (en) 2002-08-30 2006-01-03 Satiety, Inc. Methods and devices for maintaining a space occupying device in a relatively fixed location within a stomach
WO2004021868A2 (en) 2002-09-06 2004-03-18 C.R. Bard, Inc. External endoscopic accessory control system
EP1402837A1 (en) 2002-09-18 2004-03-31 Ethicon Endo-Surgery, Inc. Endoscopic ablation system with a plurality of electrodes
US7214224B2 (en) 2002-09-18 2007-05-08 Gyrus Medical Limited Electrosurgical system
EP1400214B1 (en) 2002-09-18 2006-09-06 Ethicon Endo-Surgery Endoscopic ablation system with a distally mounted image sensor
US7001408B2 (en) 2002-09-20 2006-02-21 Ethicon Endo-Surgery,Inc. Surgical device with expandable member
EP1400206B1 (en) 2002-09-20 2006-11-02 Ethicon Endo-Surgery, Inc. Surgical device with expandable member
US20060111723A1 (en) 2002-09-26 2006-05-25 Chapolini Robert J Orthopedic medical device with unitary components
WO2004028585A2 (en) 2002-09-30 2004-04-08 Sightline Technologies Ltd. Piston-actuated endoscopic tool
EP1402821B1 (en) 2002-09-30 2007-12-19 DePuy Spine, Inc. Device for advancing a functional element through tissue
US20040068161A1 (en) 2002-10-02 2004-04-08 Couvillon Lucien Alfred Thrombolysis catheter
US7726537B2 (en) 2002-10-04 2010-06-01 Tyco Healthcare Group Lp Surgical stapler with universal articulation and tissue pre-clamp
US7303106B2 (en) 2002-10-04 2007-12-04 Tyco Healthcare Group Lp Surgical stapling device with visual indicator
WO2004032763A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Surgical stapler with universal articulation and tissue pre-clamp
EP1702568B1 (en) 2002-10-04 2008-07-23 Tyco Healthcare Group LP Surgical stapler with universal articulation and tissue pre-clamp
US7546940B2 (en) 2002-10-04 2009-06-16 Tyco Healthcare Group Lp Pivoting anvil assembly for surgical stapling device
WO2004032760A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Pneumatic powered surgical stapling device
US7481347B2 (en) 2002-10-04 2009-01-27 Tyco Healthcare Group Lp Pneumatic powered surgical stapling device
WO2004032754A2 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Tool assembly for surgical stapling device
WO2004032762A1 (en) 2002-10-04 2004-04-22 Tyco Healthcare Group, Lp Tool assembly for a surgical stapling device
US20060011699A1 (en) 2002-10-04 2006-01-19 Tyco Healthcare Group Lp Surgical stapler with universal articulation and tissue pre-clamp
EP1407719A2 (en) 2002-10-08 2004-04-14 Gyrus Medical Limited A surgical instrument
US20040070369A1 (en) 2002-10-11 2004-04-15 Makita Corporation Adapters for battery chargers
WO2004034875A2 (en) 2002-10-15 2004-04-29 Dusa Pharmaceuticals, Inc. Medical device sheath apparatus and method
US7963963B2 (en) 2002-10-30 2011-06-21 Medtronic, Inc. Electrosurgical hemostat
US7037344B2 (en) 2002-11-01 2006-05-02 Valentx, Inc. Apparatus and methods for treatment of morbid obesity
US20060020247A1 (en) 2002-11-01 2006-01-26 Jonathan Kagan Devices and methods for attaching an endolumenal gastrointestinal implant
US20050177181A1 (en) 2002-11-01 2005-08-11 Jonathan Kagan Devices and methods for treating morbid obesity
US20090149871A9 (en) 2002-11-01 2009-06-11 Jonathan Kagan Devices and methods for treating morbid obesity
US6805273B2 (en) 2002-11-04 2004-10-19 Federico Bilotti Surgical stapling instrument
US20050256452A1 (en) 2002-11-15 2005-11-17 Demarchi Thomas Steerable vascular sheath
WO2004047626A1 (en) 2002-11-22 2004-06-10 Jiang, Shoumei Endoscope assembly with disposable sheath
US8298677B2 (en) 2002-11-26 2012-10-30 Cornell Research Foundation, Inc. Fluorescent silica-based nanoparticles
US20040101822A1 (en) 2002-11-26 2004-05-27 Ulrich Wiesner Fluorescent silica-based nanoparticles
WO2004047653A2 (en) 2002-11-26 2004-06-10 Stephan Koscher Surgical instrument
WO2004049956A2 (en) 2002-11-27 2004-06-17 The Anspach Effort Powered kerrison-like rongeur system
WO2004052426A2 (en) 2002-12-05 2004-06-24 Vision-Sciences, Inc. Endoscopic sheath assemblies having longitudinal expansion inhibiting mechanisms
US20050182298A1 (en) 2002-12-06 2005-08-18 Intuitive Surgical Inc. Cardiac tissue ablation instrument with flexible wrist
US20040147909A1 (en) 2002-12-20 2004-07-29 Gyrus Ent L.L.C. Surgical instrument
WO2004056276A1 (en) 2002-12-20 2004-07-08 Gyrus Ent L.L.C A surgical instrument
US7343920B2 (en) 2002-12-20 2008-03-18 Toby E Bruce Connective tissue repair system
US7348763B1 (en) 2002-12-20 2008-03-25 Linvatec Corporation Method for utilizing temperature to determine a battery state
WO2004056277A1 (en) 2002-12-23 2004-07-08 Gyrus Medical Limited Electrosurgical method and apparatus
US6931830B2 (en) 2002-12-23 2005-08-23 Chase Liao Method of forming a wire package
US7131445B2 (en) 2002-12-23 2006-11-07 Gyrus Medical Limited Electrosurgical method and apparatus
US7211081B2 (en) 2003-01-09 2007-05-01 Gyrus Medical Limited Electrosurgical generator
US7195627B2 (en) 2003-01-09 2007-03-27 Gyrus Medical Limited Electrosurgical generator
EP1581128B1 (en) 2003-01-09 2007-05-30 Gyrus Medical Limited An electrosurgical generator
WO2004062516A1 (en) 2003-01-09 2004-07-29 Gyrus Medical Limited An electrosurgical generator
US6821284B2 (en) 2003-01-22 2004-11-23 Novare Surgical Systems, Inc. Surgical clamp inserts with micro-tractive surfaces
US6960220B2 (en) 2003-01-22 2005-11-01 Cardia, Inc. Hoop design for occlusion device
EP1442694A1 (en) 2003-01-29 2004-08-04 Karl Storz Endovision, Inc. Composite flexible endoscope insertion shaft with tubular substructure
US20040254566A1 (en) 2003-01-31 2004-12-16 Gianni Plicchi Apparatus for the maneuvering of flexible catheters in the human cardiovascular system
US20080228029A1 (en) 2003-02-11 2008-09-18 Olympus Corporation Over-tube, method of manufacturing over-tube, method of disposing over-tube, and method of treatment in abdominal cavity
EP1593337B1 (en) 2003-02-11 2008-08-13 Olympus Corporation Overtube
US7133601B2 (en) 2003-02-18 2006-11-07 Black & Decker Inc. Amperage control for protection of battery over current in power tools
US20040167572A1 (en) 2003-02-20 2004-08-26 Roth Noah M. Coated medical devices
US7083615B2 (en) 2003-02-24 2006-08-01 Intuitive Surgical Inc Surgical tool having electrocautery energy supply conductor with inhibited current leakage
EP1599146B1 (en) 2003-03-05 2007-10-03 Gyrus Medical Limited Electrosurgical generator and system
WO2004078050A2 (en) 2003-03-05 2004-09-16 Gyrus Medical Limited Electrosurgical generator and system
EP1632191A2 (en) 2003-03-05 2006-03-08 Gyrus Medical Limited Electrosurgical generator and system
US7651498B2 (en) 2003-03-09 2010-01-26 Edward G. Shifrin Sternal closure system, method and apparatus therefor
US20060064086A1 (en) 2003-03-13 2006-03-23 Darren Odom Bipolar forceps with multiple electrode array end effector assembly
EP1459695A1 (en) 2003-03-21 2004-09-22 Ethicon Endo-Surgery, Inc. Medical device with improved wall construction
US20040193189A1 (en) 2003-03-25 2004-09-30 Kortenbach Juergen A. Passive surgical clip
US20060041188A1 (en) 2003-03-25 2006-02-23 Dirusso Carlo A Flexible endoscope
US20060241655A1 (en) 2003-03-26 2006-10-26 Viola Frank J Energy stored in spring with controlled release
WO2004086987A1 (en) 2003-03-26 2004-10-14 Tyco Healthcare Group, Lp Energy stored in spring with controlled release
DE10314072A1 (en) 2003-03-28 2004-10-21 Aesculap Ag & Co. Kg Surgical instrument e.g. surgical pliers, clamping tool, cutting tool, has rotation lock that has indentation bar engaging indentation return to fix movable handles of surgical instrument in closed position
EP1484024B1 (en) 2003-04-01 2007-01-17 Tuebingen Scientific Medical GmbH Surgical instrument with handgrip and zero setting arrangment
US7241288B2 (en) 2003-04-01 2007-07-10 Marcus Braun Surgical instrument
US20050033357A1 (en) 2003-04-01 2005-02-10 Marcus Braun Surgical instrument comprising an instrument handle and zero point adjustment
US7674255B2 (en) 2003-04-01 2010-03-09 Tuebingen Scientific Surgical Products, GmbH Surgical instrument
US20040243163A1 (en) 2003-04-02 2004-12-02 Gyrus Ent L.L.C Surgical instrument
WO2004096015A2 (en) 2003-04-25 2004-11-11 Applied Medical Resources Corporation Steerable kink-resistant sheath
US20050216055A1 (en) 2003-04-29 2005-09-29 Tyco Healthcare Group Lp Surgical stapling device with dissecting tip
US20050119669A1 (en) 2003-04-29 2005-06-02 Todd Demmy Dissecting tip for surgical stapler
US20040243151A1 (en) 2003-04-29 2004-12-02 Demmy Todd L. Surgical stapling device with dissecting tip
WO2004096057A2 (en) 2003-04-29 2004-11-11 Tyco Healthcare Group, Lp Surgical stapling device with dissecting tip
EP1617768B1 (en) 2003-04-29 2006-08-30 Tyco Healthcare Group Lp Surgical stapling device with dissecting tip
US7160299B2 (en) 2003-05-01 2007-01-09 Sherwood Services Ag Method of fusing biomaterials with radiofrequency energy
JP2004329624A (en) 2003-05-08 2004-11-25 Olympus Corp Surgical treatment instrument
WO2004105621A1 (en) 2003-05-09 2004-12-09 Tyco Healthcare Group, Lp Anastomotic staple with fluid dispensing capillary
WO2004103157A2 (en) 2003-05-15 2004-12-02 Lsi Solutions, Inc. System for endoscopic suturing
US7431694B2 (en) 2003-05-16 2008-10-07 Ethicon Endo-Surgery, Inc. Method of guiding medical devices
US7815565B2 (en) 2003-05-16 2010-10-19 Ethicon Endo-Surgery, Inc. Endcap for use with an endoscope
US20060180634A1 (en) 2003-05-20 2006-08-17 Shelton Frederick E Iv Surgical stapling instrument incorporating an e-beam firing mechanism
EP1479347A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
US6978921B2 (en) 2003-05-20 2005-12-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an E-beam firing mechanism
US7641093B2 (en) 2003-05-20 2010-01-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
EP1479346B1 (en) 2003-05-20 2007-01-10 Ethicon Endo-Surgery Surgical stapling instrument incorporating keyed firing mechanism
US7143923B2 (en) 2003-05-20 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a firing lockout for an unclosed anvil
EP1479348A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery Surgical stapling instrument having a single lockout mechanism
US20110147433A1 (en) 2003-05-20 2011-06-23 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US7380696B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US7380695B2 (en) 2003-05-20 2008-06-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US6988649B2 (en) 2003-05-20 2006-01-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a spent cartridge lockout
US20120203247A1 (en) 2003-05-20 2012-08-09 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system
US7000818B2 (en) 2003-05-20 2006-02-21 Ethicon, Endo-Surger, Inc. Surgical stapling instrument having separate distinct closing and firing systems
US7140528B2 (en) 2003-05-20 2006-11-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated single lockout mechanism for prevention of firing
US7044352B2 (en) 2003-05-20 2006-05-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a single lockout mechanism for prevention of firing
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
EP1479345A1 (en) 2003-05-20 2004-11-24 Ethicon Endo-Surgery Surgical stapling instrument having a spent cartridge lockout
JP2004344663A (en) 2003-05-20 2004-12-09 Ethicon Endo Surgery Inc Surgical stapler having separate closing and firing systems
US20110290853A1 (en) 2003-05-20 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with e-beam driver
US7090637B2 (en) 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
US7682307B2 (en) 2003-05-23 2010-03-23 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
WO2004105593A1 (en) 2003-05-29 2004-12-09 Kiyoteru Shima External forceps channel device for endoscope
US20040254608A1 (en) 2003-06-16 2004-12-16 Huitema Thomas W. Surgical implant with preferential corrosion zone
US20060052825A1 (en) 2003-06-16 2006-03-09 Ransick Mark H Surgical implant alloy
US20080035701A1 (en) 2003-06-17 2008-02-14 Racenet David C Surgical stapling device
US7159750B2 (en) 2003-06-17 2007-01-09 Tyco Healtcare Group Lp Surgical stapling device
US7424965B2 (en) 2003-06-17 2008-09-16 Tyco Healthcare Group Lp Surgical stapling device
US7494039B2 (en) 2003-06-17 2009-02-24 Tyco Healthcare Group Lp Surgical stapling device
US20080041917A1 (en) 2003-06-17 2008-02-21 Racenet David C Surgical stapling device
US20040260315A1 (en) 2003-06-17 2004-12-23 Dell Jeffrey R. Expandable tissue support member and method of forming the support member
WO2004112618A2 (en) 2003-06-17 2004-12-29 Tyco Healthcare Group, Lp Surgical stapling device
WO2004112652A2 (en) 2003-06-20 2004-12-29 Medtronic Vascular, Inc. Device, system, and method for contracting tissue in a mammalian body
US7168604B2 (en) 2003-06-20 2007-01-30 Tyco Healthcare Group Lp Surgical stapling device
US7213736B2 (en) 2003-07-09 2007-05-08 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an electroactive polymer actuated firing bar track through an articulation joint
US7111769B2 (en) 2003-07-09 2006-09-26 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an articulation mechanism having rotation about the longitudinal axis
JP2005028149A (en) 2003-07-09 2005-02-03 Ethicon Endo Surgery Inc Surgical stapling instrument incorporating tapered firing bar for increased flexibility around articulation joint
US6786382B1 (en) 2003-07-09 2004-09-07 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an articulation joint for a firing bar track
EP1522264A1 (en) 2003-07-09 2005-04-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a tapered firing bar for increased flexibility around the articulation joint
US7055731B2 (en) 2003-07-09 2006-06-06 Ethicon Endo-Surgery Inc. Surgical stapling instrument incorporating a tapered firing bar for increased flexibility around the articulation joint
US6964363B2 (en) 2003-07-09 2005-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having articulation joint support plates for supporting a firing bar
US20050006430A1 (en) * 2003-07-09 2005-01-13 Wales Kenneth S. Surgical instrument with a lateral-moving articulation control
US7066879B2 (en) 2003-07-15 2006-06-27 The Trustees Of Columbia University In The City Of New York Insertable device and system for minimal access procedure
US6959851B2 (en) 2003-07-16 2005-11-01 Tyco Healthcare Group Lp Surgical stapling device with tissue tensioner
US20050032511A1 (en) 2003-08-07 2005-02-10 Cardiac Pacemakers, Inc. Wireless firmware download to an external device
US20050054946A1 (en) 2003-09-04 2005-03-10 Jacek Krzyzanowski Variations of biopsy jaw and clevis and method of manufacture
US20050059997A1 (en) 2003-09-17 2005-03-17 Bauman Ann M. Circular stapler buttress
WO2005027983A2 (en) 2003-09-17 2005-03-31 Gore Enterprise Holdings, Inc. Circular stapler buttress
US7547312B2 (en) 2003-09-17 2009-06-16 Gore Enterprise Holdings, Inc. Circular stapler buttress
US7303108B2 (en) 2003-09-29 2007-12-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with a flexible rack
US7083075B2 (en) 2003-09-29 2006-08-01 Ethicon Endo-Surgery, Inc. Multi-stroke mechanism with automatic end of stroke retraction
US6959852B2 (en) 2003-09-29 2005-11-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
US7364061B2 (en) 2003-09-29 2008-04-29 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing position indicator and retraction mechanism
EP1520523A1 (en) 2003-09-29 2005-04-06 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with multistroke firing incorporating an anti-backup mechanism
EP1520521A1 (en) 2003-09-29 2005-04-06 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
US6905057B2 (en) 2003-09-29 2005-06-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a firing mechanism having a linked rack transmission
US7434715B2 (en) 2003-09-29 2008-10-14 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing with opening lockout
US7000819B2 (en) 2003-09-29 2006-02-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having multistroke firing incorporating a traction-biased ratcheting mechanism
US7094202B2 (en) 2003-09-29 2006-08-22 Ethicon Endo-Surgery, Inc. Method of operating an endoscopic device with one hand
US20050070929A1 (en) 2003-09-30 2005-03-31 Dalessandro David A. Apparatus and method for attaching a surgical buttress to a stapling apparatus
EP1520525A1 (en) 2003-09-30 2005-04-06 Ethicon, Inc. Apparatus and method for attaching a surgical buttress to a stapling apparatus
JP2005103293A (en) 2003-09-30 2005-04-21 Ethicon Inc Apparatus and method for attaching surgical buttress to stapling apparatus
US20050080454A1 (en) 2003-10-08 2005-04-14 Drews Michael J. Attachment device and methods of using the same
US7914543B2 (en) 2003-10-14 2011-03-29 Satiety, Inc. Single fold device for tissue fixation
US7029435B2 (en) 2003-10-16 2006-04-18 Granit Medical Innovation, Llc Endoscope having multiple working segments
WO2005037329A2 (en) 2003-10-17 2005-04-28 Tyco Healthcare Group, Lp Surgical stapling device with independent tip rotation
US7364060B2 (en) 2003-10-17 2008-04-29 Tyco Healthcare Group Lp Surgical stapling device with tiltable anvil head
US8123103B2 (en) 2003-10-17 2012-02-28 Tyco Healthcare Group Lp Adaptor for anvil delivery
US7556186B2 (en) 2003-10-17 2009-07-07 Tyco Healthcare Group Lp Surgical stapling device having trigger lock and associated lockout mechanism
EP1523942A2 (en) 2003-10-17 2005-04-20 Tyco Healthcare Group Lp Surgical fastener applying apparatus with controlled beam deflection
US20110101065A1 (en) 2003-10-17 2011-05-05 Tyco Healthcare Group Lp Adaptor for anvil delivery
US20050103819A1 (en) 2003-10-17 2005-05-19 Racenet David C. Surgical stapling device with independent tip rotation
US20050090817A1 (en) 2003-10-22 2005-04-28 Scimed Life Systems, Inc. Bendable endoscopic bipolar device
US7338513B2 (en) 2003-10-30 2008-03-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
WO2005044078A2 (en) 2003-10-30 2005-05-19 Woojin Lee Surgical instrument
US7686826B2 (en) 2003-10-30 2010-03-30 Cambridge Endoscopic Devices, Inc. Surgical instrument
US7147650B2 (en) 2003-10-30 2006-12-12 Woojin Lee Surgical instrument
JP2005131173A (en) 2003-10-31 2005-05-26 Olympus Corp Externally mounted channel for endoscope
JP2005131211A (en) 2003-10-31 2005-05-26 Olympus Corp Externally mounted channel for endoscope
JP2005131163A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope
JP2005131212A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope and endoscope device
JP2005131164A (en) 2003-10-31 2005-05-26 Olympus Corp External channel for endoscope
JP2005137423A (en) 2003-11-04 2005-06-02 Olympus Corp External channel for endoscope and branch member for external channel
US7397364B2 (en) 2003-11-11 2008-07-08 Biosense Webster, Inc. Digital wireless position sensor
EP1535565B1 (en) 2003-11-27 2010-10-06 Olympus Corporation Insertion auxiliary implement for an endoscope
JP2005152416A (en) 2003-11-27 2005-06-16 Olympus Corp Insertion auxiliary implement
US20050119525A1 (en) 2003-11-27 2005-06-02 Olympus Corporation Insertion auxiliary implement
WO2005055846A1 (en) 2003-12-09 2005-06-23 Gyrus Group Plc A surgical instrument
US7147637B2 (en) 2003-12-09 2006-12-12 Gyrus Group Plc Surgical instrument
US7439354B2 (en) 2003-12-11 2008-10-21 E.I. Du Pont De Nemours And Company Process for preparing amide acetals
US20070158358A1 (en) 2003-12-12 2007-07-12 Automated Merchandising Systems Inc. Adjustable storage rack for a vending machine
US20050131457A1 (en) 2003-12-15 2005-06-16 Ethicon, Inc. Variable stiffness shaft
US7161036B2 (en) 2003-12-22 2007-01-09 Sumitomo Chemical Company, Limited Process for producing oxime
US20050145675A1 (en) 2003-12-24 2005-07-07 Scimed Life Systems, Inc. Circumferential full thickness resectioning device
CN1634601A (en) 2003-12-26 2005-07-06 吉林省中立实业有限公司 Method for sterilizing medical appliance
US7147139B2 (en) 2003-12-30 2006-12-12 Ethicon Endo-Surgery, Inc Closure plate lockout for a curved cutter stapler
US20050143759A1 (en) 2003-12-30 2005-06-30 Kelly William D. Curved cutter stapler shaped for male pelvis
US7207472B2 (en) 2003-12-30 2007-04-24 Ethicon Endo-Surgery, Inc. Cartridge with locking knife for a curved cutter stapler
EP1550413B1 (en) 2003-12-30 2009-06-03 Ethicon Endo-Surgery, Inc. Closure plate lockout for a curved cutter stapler
US6988650B2 (en) 2003-12-30 2006-01-24 Ethicon Endo-Surgery, Inc. Retaining pin lever advancement mechanism for a curved cutter stapler
US7549563B2 (en) 2003-12-30 2009-06-23 Ethicon Endo-Surgery, Inc. Rotating curved cutter stapler
EP1550408A1 (en) 2003-12-30 2005-07-06 Ethicon Endo-Surgery, Inc. Curved cutter stapler shaped for surgical operations for the male pelvis
EP1550409A1 (en) 2003-12-30 2005-07-06 Ethicon Endo-Surgery, Inc. Replaceable cartridge module for a surgical stapling and cutting instrument
US7324572B2 (en) 2004-01-14 2008-01-29 Asia Optical Co., Inc. Laser driver circuit for burst mode transmission and fabrication method thereof
US7467849B2 (en) 2004-01-21 2008-12-23 Silverbrook Research Pty Ltd Printhead incorporating a static pagewidth printhead
US20050171522A1 (en) 2004-01-30 2005-08-04 Christopherson Mark A. Transurethral needle ablation system with needle position indicator
US7204835B2 (en) 2004-02-02 2007-04-17 Gyrus Medical, Inc. Surgical instrument
WO2005072634A2 (en) 2004-02-02 2005-08-11 Gyrus Medical, Inc. An electrosurgical instrument
US20070129605A1 (en) 2004-02-05 2007-06-07 Polydiagnost Gmbh Endoscope comprising a flexible probe
WO2005078892A1 (en) 2004-02-11 2005-08-25 P A Consulting Services Limited Power supply systems for electrical devices
US7172104B2 (en) 2004-02-17 2007-02-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US7225963B2 (en) 2004-02-17 2007-06-05 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
WO2005079675A2 (en) 2004-02-17 2005-09-01 Cook Biotech Incorporated Medical devices and methods for applying bolster material
US20060004407A1 (en) 2004-02-17 2006-01-05 Hiles Michael C Medical devices and methods useful for applying bolster material
US7097089B2 (en) 2004-02-17 2006-08-29 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US7143924B2 (en) 2004-02-17 2006-12-05 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US7967180B2 (en) 2004-02-17 2011-06-28 Tyco Healthcare Group Lp Surgical stapling apparatus with locking mechanism
US6953138B1 (en) 2004-02-18 2005-10-11 Frank W. Dworak Surgical stapler anvil with nested staple forming pockets
US20050187545A1 (en) 2004-02-20 2005-08-25 Hooven Michael D. Magnetic catheter ablation device and method
US8025199B2 (en) 2004-02-23 2011-09-27 Tyco Healthcare Group Lp Surgical cutting and stapling device
US20050187576A1 (en) 2004-02-23 2005-08-25 Whitman Michael P. Surgical cutting and stapling device
EP1566150B1 (en) 2004-02-23 2010-04-28 Biosense Webster, Inc. Robotically guided catheter
EP1721568A1 (en) 2004-03-02 2006-11-15 Olympus Corporation Endoscope
US7972298B2 (en) 2004-03-05 2011-07-05 Hansen Medical, Inc. Robotic catheter system
US20060259073A1 (en) 2004-03-10 2006-11-16 Manabu Miyamoto Surgical instrument
US20050203550A1 (en) 2004-03-11 2005-09-15 Laufer Michael D. Surgical fastener
US20060100643A1 (en) 2004-03-11 2006-05-11 Laufer Michael D Surgical fastening system
US7066944B2 (en) 2004-03-11 2006-06-27 Laufer Michael D Surgical fastening system
US7388217B2 (en) 2004-03-15 2008-06-17 Ims Nanofabrication Gmbh Particle-optical projection system
US20070181632A1 (en) 2004-03-19 2007-08-09 Tyco Healthcare Group Lp Anvil assembly with improved cut ring
WO2005096954A2 (en) 2004-03-31 2005-10-20 Kevin Marchitto Electromagnetic treatment of tissues and cells
US7036680B1 (en) 2004-04-07 2006-05-02 Avery Dennison Corporation Device for dispensing plastic fasteners
US20050228224A1 (en) 2004-04-13 2005-10-13 Olympus Corporation Endoscope therapeutic device
US7566300B2 (en) 2004-04-15 2009-07-28 Wilson-Cook Medical, Inc. Endoscopic surgical access devices and methods of articulating an external accessory channel
US20050240222A1 (en) 2004-04-27 2005-10-27 Shipp John I Surgery delivery device and mesh anchor
US20050251128A1 (en) 2004-04-28 2005-11-10 Gyrus Medical Limited Electrosurgical method and apparatus
US7098794B2 (en) 2004-04-30 2006-08-29 Kimberly-Clark Worldwide, Inc. Deactivating a data tag for user privacy or tamper-evident packaging
US20050256522A1 (en) 2004-05-12 2005-11-17 Medtronic, Inc. Device and method for determining tissue thickness and creating cardiac ablation lesions
WO2005112808A1 (en) 2004-05-12 2005-12-01 Medtronic, Inc. Device and method for determining tissue thickness and creating cardiac ablation lesions
WO2005115253A2 (en) 2004-05-17 2005-12-08 Rex Medical, L.P. Vascular hole closure device
US20050261677A1 (en) 2004-05-20 2005-11-24 Gyrus Medical Limited Surgical instrument
US20050261676A1 (en) 2004-05-20 2005-11-24 Gyrus Medical Limited Surgical instrument
US7260431B2 (en) 2004-05-20 2007-08-21 Cardiac Pacemakers, Inc. Combined remodeling control therapy and anti-remodeling therapy by implantable cardiac device
WO2005112806A2 (en) 2004-05-20 2005-12-01 Gyrus Medical Limited A surgical instrument
US20050274768A1 (en) 2004-05-25 2005-12-15 Christy Cummins Surgical stapler
WO2005117735A1 (en) 2004-06-02 2005-12-15 Gyrus Medical Limited Electrosurgical generator and system
US7828808B2 (en) 2004-06-07 2010-11-09 Novare Surgical Systems, Inc. Link systems and articulation mechanisms for remote manipulation of surgical or diagnostic tools
US7766821B2 (en) 2004-06-08 2010-08-03 Henke-Sass, Wolf Gmbh Bendable portion of an insertion tube of an endoscope and method of producing it
EP1607050B1 (en) 2004-06-14 2009-12-02 Ethicon Endo-Surgery, Inc. Clip ejector for endoscopic clip applier
WO2005122936A1 (en) 2004-06-18 2005-12-29 Gyrus Medical Limited A surgical instrument
US7150748B2 (en) 2004-06-18 2006-12-19 Gyrus Medical Limited Bipolar coagulating instrument
US7059508B2 (en) 2004-06-30 2006-06-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating an uneven multistroke firing mechanism having a rotary transmission
US20060008787A1 (en) 2004-07-02 2006-01-12 Robert Hayman Voice alert in dentistry
US7485133B2 (en) 2004-07-14 2009-02-03 Warsaw Orthopedic, Inc. Force diffusion spinal hook
US20060020258A1 (en) 2004-07-20 2006-01-26 Medtronic, Inc. Surgical apparatus with a manually actuatable assembly and a method of operating same
US20090078736A1 (en) 2004-07-26 2009-03-26 Van Lue Stephen J Surgical stapler with magnetically secured components
US20060060630A1 (en) 2004-07-28 2006-03-23 Shelton Frederick E Iv Multiple firing stroke surgical instrument incorporating electroactive polymer anti-backup mechanism
JP2006034975A (en) 2004-07-28 2006-02-09 Ethicon Endo Surgery Inc Articulating surgical stapling instrument incorporating two-piece e-beam firing mechanism
US20060047307A1 (en) 2004-07-28 2006-03-02 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for circular stapler
EP1621145A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20060025813A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated medical substance dispenser
US20060025812A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated pivoting articulation mechanism
CA2514274A1 (en) 2004-07-28 2006-01-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
EP1621138A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
EP1621141A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
EP1627605B1 (en) 2004-07-28 2010-12-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medicament dispenser
US7506790B2 (en) 2004-07-28 2009-03-24 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US7404509B2 (en) 2004-07-28 2008-07-29 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for linear stapler
US7143925B2 (en) 2004-07-28 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating EAP blocking lockout mechanism
CA2512960A1 (en) 2004-07-28 2006-01-28 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating electroactive polymer actuator blocking lockout mechanism
US7410086B2 (en) 2004-07-28 2008-08-12 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for circular stapler
EP1621151A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US20060025811A1 (en) 2004-07-28 2006-02-02 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating an electrically actuated articulation mechanism
US7147138B2 (en) 2004-07-28 2006-12-12 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having an electroactive polymer actuated buttress deployment mechanism
EP1621139A2 (en) 2004-07-28 2006-02-01 Ethicon Endo-Surgery, Inc. Articulating surgical stapling instrument
US20120273551A1 (en) 2004-07-28 2012-11-01 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US20060047303A1 (en) 2004-07-28 2006-03-02 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for grasper
US7210609B2 (en) 2004-07-30 2007-05-01 Tools For Surgery, Llc Stapling apparatus having a curved anvil and driver
US20080140115A1 (en) 2004-08-17 2008-06-12 Stopek Joshua B Stapling Support Structures
WO2006023486A1 (en) 2004-08-19 2006-03-02 Tyco Healthcare Group, Lp Water-swellable copolymers and articles and coating made therefrom
US7182239B1 (en) 2004-08-27 2007-02-27 Myers Stephan R Segmented introducer device for a circular surgical stapler
US7128254B2 (en) 2004-09-07 2006-10-31 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multistroke firing mechanism having a rotary slip-clutch transmission
CN1868411A (en) 2004-09-07 2006-11-29 伊西康内外科公司 Surgical stapling instrument incorporating a multistroke firing mechanism having a rotary slip-clutch transmission
WO2006027014A1 (en) 2004-09-10 2006-03-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US7336184B2 (en) 2004-09-24 2008-02-26 Intel Corporation Inertially controlled switch and RFID tag
US20060122636A1 (en) 2004-10-06 2006-06-08 Sofradim Production Appliance for storing, distributing and placing surgical fasteners
US7824401B2 (en) 2004-10-08 2010-11-02 Intuitive Surgical Operations, Inc. Robotic tool with wristed monopolar electrosurgical end effectors
WO2006044581A2 (en) 2004-10-13 2006-04-27 Medtronic, Inc. Single-use transurethral needle ablation device
US8372094B2 (en) 2004-10-15 2013-02-12 Covidien Lp Seal element for anastomosis
US8225799B2 (en) 2004-10-18 2012-07-24 Tyco Healthcare Group Lp Support structures and methods of using the same
US20060085031A1 (en) 2004-10-18 2006-04-20 Michael Bettuchi Extraluminal sealant applicator and method
WO2006044810A2 (en) 2004-10-18 2006-04-27 Tyco Healthcare Group, Lp Surgical fasteners coated with wound treatment materials
WO2006044490A2 (en) 2004-10-18 2006-04-27 Tyco Healthcare Group, Lp Annular adhesive structure
US7688028B2 (en) 2004-10-18 2010-03-30 Black & Decker Inc. Cordless power system
US20060085033A1 (en) 2004-10-18 2006-04-20 Criscuolo Christopher J Surgical apparatus and structure for applying sprayable wound treatment material
US8097017B2 (en) 2004-10-18 2012-01-17 Tyco Healthcare Group Lp Surgical fasteners coated with wound treatment materials
US7699204B2 (en) 2004-10-18 2010-04-20 Tyco Healthcare Group Lp Structure containing wound treatment material
EP1652481A2 (en) 2004-10-18 2006-05-03 Tyco Healthcare Group Lp Surgical apparatus and structure for applying sprayable wound treatment material
US20060235469A1 (en) 2004-10-18 2006-10-19 Viola Frank J Surgical fasteners coated with wound treatment materials
US7938307B2 (en) 2004-10-18 2011-05-10 Tyco Healthcare Group Lp Support structures and methods of using the same
US20060108393A1 (en) 2004-10-18 2006-05-25 Russell Heinrich Structure for applying sprayable wound treatment material
US20060086032A1 (en) 2004-10-27 2006-04-27 Joseph Valencic Weapon and input device to record information
WO2006051252A1 (en) 2004-11-12 2006-05-18 Gyrus Medical Limited Electrosurgical generator and system
US7322975B2 (en) 2004-11-24 2008-01-29 Gyrus Group Plc Electrosurgical instrument
US7255696B2 (en) 2004-11-24 2007-08-14 Gyrus Group Plc Electrosurgical instrument
WO2006059067A1 (en) 2004-12-03 2006-06-08 Gyrus Medical Limited An electrosurgical generator
US7121446B2 (en) 2004-12-13 2006-10-17 Niti Medical Technologies Ltd. Palm-size surgical stapler for single hand operation
US7328829B2 (en) 2004-12-13 2008-02-12 Niti Medical Technologies Ltd. Palm size surgical stapler for single hand operation
US7568619B2 (en) 2004-12-15 2009-08-04 Alcon, Inc. System and method for identifying and controlling ophthalmic surgical devices and components
US20060149163A1 (en) 2004-12-29 2006-07-06 Hibner John A Core sampling biopsy device with short coupled MRI-compatible driver
US20060142772A1 (en) 2004-12-29 2006-06-29 Ralph James D Surgical fasteners and related implant devices having bioabsorbable components
US20060161185A1 (en) 2005-01-14 2006-07-20 Usgi Medical Inc. Methods and apparatus for transmitting force to an end effector over an elongate member
WO2006083748A1 (en) 2005-01-31 2006-08-10 Synovis Life Technologies, Inc. Surgical fastener buttress materials
US20060173470A1 (en) 2005-01-31 2006-08-03 Oray B N Surgical fastener buttress material
US7143926B2 (en) 2005-02-07 2006-12-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a multi-stroke firing mechanism with return spring rotary manual retraction system
US7784662B2 (en) 2005-02-18 2010-08-31 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with single pivot closure and double pivot frame ground
EP1693008B1 (en) 2005-02-18 2008-12-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a fluid transfer controlled articulation mechanism
US20060226196A1 (en) 2005-02-18 2006-10-12 Ethicon Endo-Surgery, Inc. Surgical instrument with guided laterally moving articulation member
US7559450B2 (en) 2005-02-18 2009-07-14 Ethicon Endo-Surgery, Inc. Surgical instrument incorporating a fluid transfer controlled articulation mechanism
US7780054B2 (en) 2005-02-18 2010-08-24 Ethicon Endo-Surgery, Inc. Surgical instrument with laterally moved shaft actuator coupled to pivoting articulation joint
US7455208B2 (en) 2005-02-18 2008-11-25 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with rigid firing bar supports
US7559452B2 (en) 2005-02-18 2009-07-14 Ethicon Endo-Surgery, Inc. Surgical instrument having fluid actuated opposing jaws
WO2006092565A1 (en) 2005-03-04 2006-09-08 Gyrus Ent, L.L.C. Surgical instrument and method
WO2006092563A1 (en) 2005-03-04 2006-09-08 Gyrus Ent, L.L.C. Surgical instrument and method
US20060264927A1 (en) 2005-03-04 2006-11-23 Gyrus Ent, L.L.C. Surgical instrument and method
US20060200123A1 (en) 2005-03-04 2006-09-07 Gyrus Ent, L.L.C. Surgical instrument and method
US20060217729A1 (en) 2005-03-09 2006-09-28 Brasseler Usa Medical Llc Surgical apparatus and tools for same
US7942890B2 (en) 2005-03-15 2011-05-17 Tyco Healthcare Group Lp Anastomosis composite gasket
US8167895B2 (en) 2005-03-15 2012-05-01 Tyco Healthcare Group Lp Anastomosis composite gasket
EP1702570B1 (en) 2005-03-15 2010-10-20 Tyco Healthcare Group LP Anastomosis composite gasket
US20060212069A1 (en) 2005-03-17 2006-09-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
JP2006281405A (en) 2005-04-04 2006-10-19 Hitachi Koki Co Ltd Cordless power tool
US7780055B2 (en) 2005-04-06 2010-08-24 Tyco Healthcare Group Lp Loading unit having drive assembly locking mechanism
US7297149B2 (en) 2005-04-14 2007-11-20 Ethicon Endo-Surgery, Inc. Surgical clip applier methods
US20090054908A1 (en) 2005-04-15 2009-02-26 Jason Matthew Zand Surgical instruments with sensors for detecting tissue properties, and system using such instruments
WO2006115958A1 (en) 2005-04-28 2006-11-02 Warsaw Orthopedic, Inc. Method and apparatus for surgical instrument identification
US20060244460A1 (en) 2005-04-29 2006-11-02 Weaver Jeffrey S System and method for battery management
GB2425903A (en) 2005-05-02 2006-11-08 Bosch Gmbh Robert Electric power tool controller avoids exhaustive discharge of battery
US8084001B2 (en) 2005-05-02 2011-12-27 Cornell Research Foundation, Inc. Photoluminescent silica-based sensors and methods of use
US7418078B2 (en) 2005-05-06 2008-08-26 Siemens Medical Solutions Usa, Inc. Spot-size effect reduction
EP1721576B1 (en) 2005-05-09 2009-04-08 Robert A. Van Wyk Apparatus and kit for thermal suture cutting
US20060258904A1 (en) 2005-05-13 2006-11-16 David Stefanchik Feeding tube and track
US7615003B2 (en) 2005-05-13 2009-11-10 Ethicon Endo-Surgery, Inc. Track for medical devices
US20060271102A1 (en) 2005-05-25 2006-11-30 Gyrus Medical, Inc. Surgical instrument construction
WO2006125940A1 (en) 2005-05-25 2006-11-30 Gyrus Medical, Inc. A surgical instrument
US20060271042A1 (en) 2005-05-26 2006-11-30 Gyrus Medical, Inc. Cutting and coagulating electrosurgical forceps having cam controlled jaw closure
US7722610B2 (en) 2005-06-02 2010-05-25 Tyco Healthcare Group Lp Multiple coil staple and staple applier
US20060291981A1 (en) 2005-06-02 2006-12-28 Viola Frank J Expandable backspan staple
EP1728473A1 (en) 2005-06-02 2006-12-06 Tyco Healthcare Group Lp Expandable backspan staple
US7909221B2 (en) 2005-06-03 2011-03-22 Tyco Healthcare Group Lp Battery powered surgical instrument
US7909191B2 (en) 2005-06-03 2011-03-22 Greatbatch Ltd. Connectable instrument trays for creating a modular case
US7461767B2 (en) 2005-06-03 2008-12-09 Tyco Healthcare Group Lp Battery powered surgical instrument
US20060278681A1 (en) 2005-06-03 2006-12-14 Viola Frank J Battery powered surgical instrument
EP1728475A2 (en) 2005-06-03 2006-12-06 Tyco Healthcare Group Lp Surgical instruments employing sensors
US8002795B2 (en) 2005-06-03 2011-08-23 Tyco Healthcare Group, L.P. Surgical instruments employing sensors
US20060278680A1 (en) 2005-06-03 2006-12-14 Viola Frank J Surgical stapler with timer and feedback display
US20080197167A1 (en) 2005-06-03 2008-08-21 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7717312B2 (en) 2005-06-03 2010-05-18 Tyco Healthcare Group Lp Surgical instruments employing sensors
US20100200637A1 (en) 2005-06-03 2010-08-12 Beetel Robert J Surgical Instruments Employing Sensors
US7870989B2 (en) 2005-06-03 2011-01-18 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7464847B2 (en) 2005-06-03 2008-12-16 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7845534B2 (en) 2005-06-03 2010-12-07 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
US7330004B2 (en) 2005-06-06 2008-02-12 Lutron Electronics Co., Inc. Method and apparatus for quiet variable motor speed control
US7265374B2 (en) 2005-06-10 2007-09-04 Arima Computer Corporation Light emitting semiconductor device
US7295907B2 (en) 2005-06-14 2007-11-13 Trw Automotive U.S. Llc Recovery of calibrated center steering position after loss of battery power
EP1736104B1 (en) 2005-06-23 2009-03-11 Ethicon Endo-Surgery, Inc. Surgical instrument having fluid actuated opposing jaws
US20060289602A1 (en) 2005-06-23 2006-12-28 Ethicon Endo-Surgery, Inc. Surgical instrument with articulating shaft with double pivot closure and single pivot frame ground
WO2007002180A2 (en) 2005-06-28 2007-01-04 Stryker Corporation Powered surgical tool with control module that contains a sensor for remotely monitoring the tool power generating unit
US8241271B2 (en) 2005-06-30 2012-08-14 Intuitive Surgical Operations, Inc. Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing
EP1745748B1 (en) 2005-07-19 2009-08-26 Ethicon Endo-Surgery, Inc. Surgical instrument with laterally moved shaft actuator coupled to pivoting articulation joint
WO2007018898A2 (en) 2005-07-20 2007-02-15 Cambridge Endoscopic Devices, Inc. Surgical instrument guide device
US8245898B2 (en) 2005-07-26 2012-08-21 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device
US20070073341A1 (en) 2005-07-26 2007-03-29 Kms Medical Llc Method for operating a surgical stapling and cutting device
US20090057369A1 (en) 2005-07-26 2009-03-05 Smith Kevin W Electrically Self-Powered Surgical Instrument With Manual Release
US8034077B2 (en) 2005-07-26 2011-10-11 Ethicon Endo-Surgery, Inc. Method for surgical stapling and cutting device with dual actuating control knob
US7404508B2 (en) 2005-07-26 2008-07-29 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device
US7419080B2 (en) 2005-07-26 2008-09-02 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting device with dual actuating control knob
US20120080475A1 (en) 2005-07-26 2012-04-05 Smith Kevin W Method for Operating a Surgial Stapling and Cutting Device
US20110210156A1 (en) 2005-07-26 2011-09-01 Smith Kevin W Electrically Self-Powered Surgical Instrument With Manual Release
US7959050B2 (en) 2005-07-26 2011-06-14 Ethicon Endo-Surgery, Inc Electrically self-powered surgical instrument with manual release
US20070027469A1 (en) 2005-07-26 2007-02-01 Kms Medical Llc Surgical stapling and cutting device and method for using the device
US7815092B2 (en) 2005-07-27 2010-10-19 Power Medical Interventions, Llc Staple pocket arrangement for surgical stapler
US20070023477A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device
WO2007016290A2 (en) 2005-07-27 2007-02-08 Power Medical Interventions, Inc. Surgical device
US20070023476A1 (en) 2005-07-27 2007-02-01 Whitman Michael P Surgical device
US20070027468A1 (en) 2005-08-01 2007-02-01 Wales Kenneth S Surgical instrument with an articulating shaft locking mechanism
EP1749486B1 (en) 2005-08-05 2009-03-04 Ethicon Endo-Surgery, Inc. Swing gate for device lockout in a curved cutter stapler
US7641092B2 (en) 2005-08-05 2010-01-05 Ethicon Endo - Surgery, Inc. Swing gate for device lockout in a curved cutter stapler
US7481349B2 (en) 2005-08-15 2009-01-27 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7726538B2 (en) 2005-08-15 2010-06-01 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US20070034668A1 (en) 2005-08-15 2007-02-15 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7401721B2 (en) 2005-08-15 2008-07-22 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7837081B2 (en) 2005-08-15 2010-11-23 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
CN1915180A (en) 2005-08-15 2007-02-21 Tyco医疗健康集团 Surgical stapling instruments including a cartridge having multiple staple sizes
US7407075B2 (en) 2005-08-15 2008-08-05 Tyco Healthcare Group Lp Staple cartridge having multiple staple sizes for a surgical stapling instrument
US7398908B2 (en) 2005-08-15 2008-07-15 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US8157152B2 (en) 2005-08-15 2012-04-17 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staples sizes
US7828189B2 (en) 2005-08-15 2010-11-09 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
EP1754445A2 (en) 2005-08-15 2007-02-21 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US7455676B2 (en) 2005-08-15 2008-11-25 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US20090213685A1 (en) 2005-08-17 2009-08-27 Bsh Bosch Und Siemens Haugerate Gmbh Electric-Motor Kitchen Appliance Comprising an Electric or Electronic Control
US20070083193A1 (en) 2005-08-22 2007-04-12 Werneth Randell L User interface for tissue ablation system
US7828794B2 (en) 2005-08-25 2010-11-09 Covidien Ag Handheld electrosurgical apparatus for controlling operating room equipment
US20100127042A1 (en) 2005-08-31 2010-05-27 Shelton Iv Frederick E Staple Cartridges for Forming Staples Having Differing Formed Staple Heights.
EP1759812A1 (en) 2005-08-31 2007-03-07 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20110174863A1 (en) 2005-08-31 2011-07-21 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070194079A1 (en) 2005-08-31 2007-08-23 Hueil Joseph C Surgical stapling device with staple drivers of different height
US8317070B2 (en) 2005-08-31 2012-11-27 Ethicon Endo-Surgery, Inc. Surgical stapling devices that produce formed staples having different lengths
US20130186936A1 (en) 2005-08-31 2013-07-25 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US7673781B2 (en) 2005-08-31 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling device with staple driver that supports multiple wire diameter staples
US20110147434A1 (en) 2005-08-31 2011-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling systems that produce formed staples having different lengths
US7500979B2 (en) 2005-08-31 2009-03-10 Ethicon Endo-Surgery, Inc. Surgical stapling device with multiple stacked actuator wedge cams for driving staple drivers
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070194082A1 (en) 2005-08-31 2007-08-23 Morgan Jerome R Surgical stapling device with anvil having staple forming pockets of varying depths
US20110290851A1 (en) 2005-08-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
EP1759645B1 (en) 2005-09-06 2008-11-05 Tyco Healthcare Group Lp Instrument introducer
US20070070574A1 (en) 2005-09-13 2007-03-29 Nerheim Magne H Systems and Methods for Modular Electronic Weaponry
US20070135803A1 (en) 2005-09-14 2007-06-14 Amir Belson Methods and apparatus for performing transluminal and other procedures
US7467740B2 (en) 2005-09-21 2008-12-23 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having flexible channel and anvil features for adjustable staple heights
US7407078B2 (en) 2005-09-21 2008-08-05 Ehthicon Endo-Surgery, Inc. Surgical stapling instrument having force controlled spacing end effector
US7472815B2 (en) 2005-09-21 2009-01-06 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with collapsible features for controlling staple height
EP1767163A1 (en) 2005-09-22 2007-03-28 Sherwood Services AG Bipolar forceps with multiple electrode array end effector assembly
US7357287B2 (en) 2005-09-29 2008-04-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having preloaded firing assistance mechanism
EP1769758A1 (en) 2005-09-30 2007-04-04 Ethicon Endo-Surgery, Inc. Electroactive polymer-based articulation mechanism for surgical circular stapler
EP1769756A1 (en) 2005-09-30 2007-04-04 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having load sensing control circuitry
EP1769754B1 (en) 2005-09-30 2010-06-16 Ethicon Endo-Surgery, Inc. Electroactive polymer-based actuation mechanism for linear surgical stapler
US20070078484A1 (en) 2005-10-03 2007-04-05 Joseph Talarico Gentle touch surgical instrument and method of using same
US7635074B2 (en) 2005-10-04 2009-12-22 Tyco Healthcare Group Lp Staple drive assembly
US7997469B2 (en) 2005-10-04 2011-08-16 Tyco Healthcare Group Lp Staple drive assembly
EP1780825A1 (en) 2005-10-31 2007-05-02 Black & Decker, Inc. Battery pack and internal component arrangement within the battery pack for cordless power tool system
US7656131B2 (en) 2005-10-31 2010-02-02 Black & Decker Inc. Methods of charging battery packs for cordless power tool systems
US7941865B2 (en) 2005-11-01 2011-05-10 Black & Decker Inc. Rechargeable battery pack and operating system
US7328828B2 (en) 2005-11-04 2008-02-12 Ethicon Endo-Surgery, Inc, Lockout mechanisms and surgical instruments including same
US7673783B2 (en) 2005-11-04 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for delivery of medical agents
US7607557B2 (en) 2005-11-04 2009-10-27 Ethicon Endo-Surgery, Inc. Surgical stapling instruments structured for pump-assisted delivery of medical agents
US20070102472A1 (en) 2005-11-04 2007-05-10 Ethicon Endo-Surgery, Inc. Electrosurgical stapling instrument with disposable severing / stapling unit
US20070106113A1 (en) 2005-11-07 2007-05-10 Biagio Ravo Combination endoscopic operative delivery system
EP1785098B1 (en) 2005-11-09 2010-10-13 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US20100179382A1 (en) 2005-11-09 2010-07-15 Ethicon Endo-Surgery, Inc. Hydraulically and electrically actuated articulation joints for surgical instruments
US7673780B2 (en) 2005-11-09 2010-03-09 Ethicon Endo-Surgery, Inc. Articulation joint with improved moment arm extension for articulating an end effector of a surgical instrument
EP1785097A2 (en) 2005-11-09 2007-05-16 Ethicon Endo-Surgery, Inc. Hydraulically and electrically actuated articulation joints for surgical instruments
US7799039B2 (en) 2005-11-09 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument having a hydraulically actuated end effector
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
EP1785102B1 (en) 2005-11-10 2012-01-11 Ethicon Endo-Surgery, Inc. Disposable loading unit and surgical instruments including same
US20070170225A1 (en) 2005-11-10 2007-07-26 Ethicon Endo-Surgery, Inc. Disposable loading unit and surgical instruments including same
US7354447B2 (en) 2005-11-10 2008-04-08 Ethicon Endo-Surgery, Inc. Disposable loading unit and surgical instruments including same
EP1790293A2 (en) 2005-11-23 2007-05-30 Ethicon Endo-Surgery, Inc. Surgical stapler with a bendable end effector
US20070114261A1 (en) 2005-11-23 2007-05-24 Ethicon Endo-Surgery, Inc. Surgical stapler with a bendable end effector
US7246734B2 (en) 2005-12-05 2007-07-24 Ethicon Endo-Surgery, Inc. Rotary hydraulic pump actuated multi-stroke surgical instrument
EP1800610A1 (en) 2005-12-23 2007-06-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument incorporating a mult-stroke firing mechanism with a flexible rack
US20100145146A1 (en) 2005-12-28 2010-06-10 Envisionier Medical Technologies, Inc. Endoscopic digital recording system with removable screen and storage device
US7481824B2 (en) 2005-12-30 2009-01-27 Ethicon Endo-Surgery, Inc. Surgical instrument with bending articulation controlled articulation pivot joint
US7670334B2 (en) 2006-01-10 2010-03-02 Ethicon Endo-Surgery, Inc. Surgical instrument having an articulating end effector
US20070173813A1 (en) 2006-01-24 2007-07-26 Sherwood Services Ag System and method for tissue sealing
US20070173806A1 (en) 2006-01-24 2007-07-26 Sherwood Services Ag System and method for closed loop monitoring of monopolar electrosurgical apparatus
US20090292283A1 (en) 2006-01-24 2009-11-26 Tyco Healthcare Group Lp System and method for tissue sealing
US20070175950A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular end effector system therefor
US7464846B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a removable battery
US7464849B2 (en) 2006-01-31 2008-12-16 Ethicon Endo-Surgery, Inc. Electro-mechanical surgical instrument with closure system and anvil alignment components
US7766210B2 (en) 2006-01-31 2010-08-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with user feedback system
EP1813208B1 (en) 2006-01-31 2009-11-11 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US20100305552A1 (en) 2006-01-31 2010-12-02 Ethicon End-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US7770775B2 (en) 2006-01-31 2010-08-10 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
US20120074196A1 (en) 2006-01-31 2012-03-29 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20120199630A1 (en) 2006-01-31 2012-08-09 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US8172124B2 (en) 2006-01-31 2012-05-08 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8292155B2 (en) 2006-01-31 2012-10-23 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with tactile position feedback
US7644848B2 (en) 2006-01-31 2010-01-12 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
US20110295295A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument having recording capabilities
US7568603B2 (en) 2006-01-31 2009-08-04 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with articulatable end effector
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
CN101011286A (en) 2006-01-31 2007-08-08 伊西康内外科公司 Motor-driven surgical cutting and fastening instrument with tactile position feedback
US7575144B2 (en) 2006-01-31 2009-08-18 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with single cable actuator
US8161977B2 (en) 2006-01-31 2012-04-24 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20070175955A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical cutting and fastening instrument with closure trigger locking mechanism
US20130026210A1 (en) 2006-01-31 2013-01-31 Ethicon Endo-Surgery, Inc. Surgical instrument
US20130026208A1 (en) 2006-01-31 2013-01-31 Ethicon Endo-Surgery, Inc. Surgical instrument for acting on tissue
US20070175951A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Gearing selector for a powered surgical cutting and fastening instrument
US7416101B2 (en) 2006-01-31 2008-08-26 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
EP1813205B1 (en) 2006-01-31 2011-06-08 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with loading force feedback
US8157153B2 (en) 2006-01-31 2012-04-17 Ethicon Endo-Surgery, Inc. Surgical instrument with force-feedback capabilities
US7721934B2 (en) 2006-01-31 2010-05-25 Ethicon Endo-Surgery, Inc. Articulatable drive shaft arrangements for surgical cutting and fastening instruments
US7422139B2 (en) 2006-01-31 2008-09-09 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting fastening instrument with tactile position feedback
US20130012957A1 (en) 2006-01-31 2013-01-10 Ethicon Endo-Surgery, Inc. Automated end effector component reloading system for use with a robotic system
EP1813206B1 (en) 2006-01-31 2010-04-28 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with tactile position feedback
US20070175949A1 (en) 2006-01-31 2007-08-02 Shelton Frederick E Iv Surgical instrument having a feedback system
EP1813209A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Disposable staple cartridge having an anvil with tissue locator for use with a surgical cutting and fastening instrument and modular and effector system therefor
EP1813207A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Electronic lockouts and surgical instrument including same
EP1813199A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US20130020376A1 (en) 2006-01-31 2013-01-24 Ethicon Endo-Surgery, Inc. Surgical instrument
US20120175399A1 (en) 2006-01-31 2012-07-12 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
EP1813201A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
EP1813203A2 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with adaptive user feedback
EP1813202A1 (en) 2006-01-31 2007-08-01 Ethicon Endo-Surgery, Inc. Gearing selector for a powered surgical cutting and fastening instrument
US8167185B2 (en) 2006-01-31 2012-05-01 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US20130023861A1 (en) 2006-01-31 2013-01-24 Ethicon Endo-Surgery, Inc. Surgical instrument
EP1815804B1 (en) 2006-02-02 2009-12-30 Tyco Healthcare Group Lp Mechanically tuned buttress material to assist with proper formation of surgical element in diseased tissue
WO2007098220A2 (en) 2006-02-20 2007-08-30 Black & Decker Inc. Dc motor with dual commutator bar set and selectable series and parallel connected coils
US20070203510A1 (en) 2006-02-28 2007-08-30 Bettuchi Michael J Annular disk for reduction of anastomotic tension and methods of using the same
US7771396B2 (en) 2006-03-22 2010-08-10 Ethicon Endo-Surgery, Inc. Intubation device for enteral feeding
US20130012931A1 (en) 2006-03-23 2013-01-10 Ethicon Endo-Surgery, Inc. Articulatable surgical device
US20120199632A1 (en) 2006-03-23 2012-08-09 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with selectively articulatable end effector
US20110295242A1 (en) 2006-03-23 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US20070221700A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Methods and devices for controlling articulation
US20070225562A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US20110144430A1 (en) 2006-03-23 2011-06-16 Ethicon Endo-Surgery, Inc. Articulating endoscopic accessory channel
US20070221701A1 (en) 2006-03-23 2007-09-27 Ethicon Endo-Surgery, Inc. Surgical fastener and cutter with mimicking end effector
US20070239028A1 (en) 2006-03-29 2007-10-11 Ethicon Endo-Surgery, Inc. Ultrasonic surgical system and method
US20090020958A1 (en) 2006-03-31 2009-01-22 Soul David F Methods and apparatus for operating an internal combustion engine
US7836400B2 (en) 2006-03-31 2010-11-16 Research In Motion Limited Snooze support for event reminders
US20070246505A1 (en) 2006-04-24 2007-10-25 Medical Ventures Inc. Surgical buttress assemblies and methods of uses thereof
WO2007121579A1 (en) 2006-04-24 2007-11-01 Medical Ventures Corp. Surgical buttress assembly
US7278563B1 (en) 2006-04-25 2007-10-09 Green David T Surgical instrument for progressively stapling and incising tissue
US7944175B2 (en) 2006-04-26 2011-05-17 Makita Corporation Battery charging systems
WO2007131110A2 (en) 2006-05-03 2007-11-15 Raptor Ridge, Llc Systems and methods of tissue closure
US20070260278A1 (en) 2006-05-03 2007-11-08 Raptor Ridge, Llc Systems and methods of tissue closure
US20070288044A1 (en) 2006-05-12 2007-12-13 Terumo Kabushiki Kaisha Manipulator
EP1857057A2 (en) 2006-05-18 2007-11-21 Tyco Healthcare Group Lp Surgical stapling instruments including a cartridge having multiple staple sizes
US20080251569A1 (en) 2006-05-19 2008-10-16 Smith Kevin W Optimal Tissue Compression Electrical Surgical Instrument
US20080185419A1 (en) 2006-05-19 2008-08-07 Smith Kevin W Electrically Self-Powered Surgical Instrument With Cryptographic Identification of Interchangeable Part
US20080245841A1 (en) 2006-05-19 2008-10-09 Smith Kevin W Method for Operating an Electrical Surgical Instrument with Optimal Tissue Compression
US20100186219A1 (en) 2006-05-19 2010-07-29 Smith Kevin W Force Switch
US7552854B2 (en) 2006-05-19 2009-06-30 Applied Medical Resources Corporation Surgical stapler with firing lock mechanism
US20100258611A1 (en) 2006-05-19 2010-10-14 Smith Kevin W Electrical Surgical Stapling Instrument with Tissue Compressive Force Control
US20070270884A1 (en) 2006-05-19 2007-11-22 Ethicon Endo-Surgery, Inc. Electrical surgical instrument with optimized power supply and drive
US8038046B2 (en) 2006-05-19 2011-10-18 Ethicon Endo-Surgery, Inc. Electrical surgical instrument with optimized power supply and drive
US20070270784A1 (en) 2006-05-19 2007-11-22 Ethicon Endo-Surgery, Inc. Electric surgical instrument with optimized power supply and drive
WO2007137304A2 (en) 2006-05-19 2007-11-29 Ethicon Endo-Surgery, Inc. Electrical surgical instrument
US20120022523A1 (en) 2006-05-19 2012-01-26 Smith Kevin W Electrical Surgical Instrument with Optimized Power Supply and Drive
US7714239B2 (en) 2006-05-19 2010-05-11 Ethicon Endo-Surgery, Inc Force switch
US7479608B2 (en) 2006-05-19 2009-01-20 Ethicon Endo-Surgery, Inc. Force switch
US20100230465A1 (en) 2006-05-19 2010-09-16 Smith Kevin W Methods for Cryptographic Identification of Interchangeable Parts for Surgical Instruments
WO2007139734A2 (en) 2006-05-23 2007-12-06 Cambridge Endoscopic Devices, Inc. Surgical instrument
WO2007142625A2 (en) 2006-06-02 2007-12-13 Tyco Healthcare Group Lp Surgical stapler with timer and feedback display
DE202007003114U1 (en) 2006-06-13 2007-06-21 Olympus Winter & Ibe Gmbh Medical forceps has a removable tool that fits into a retaining sleeve that has a snap action element that prevents rotation
US20070299427A1 (en) 2006-06-14 2007-12-27 Yeung Benny H B Surgical manipulator
WO2007147439A1 (en) 2006-06-21 2007-12-27 Rudolf Steffen Device for introducing and positioning surgical instruments and corresponding method
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
EP1872727A1 (en) 2006-06-27 2008-01-02 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
CN101095621A (en) 2006-06-27 2008-01-02 伊西康内外科公司 Manually driven surgical cutting and fastening instrument
US20130048697A1 (en) 2006-06-27 2013-02-28 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US20080200835A1 (en) 2006-06-30 2008-08-21 Monson Gavin M Energy Biopsy Device for Tissue Penetration and Hemostasis
US20100108740A1 (en) 2006-07-07 2010-05-06 Alessandro Pastorelli Surgical stapling instrument
US20080015598A1 (en) 2006-07-11 2008-01-17 Megan Prommersberger Novel skin staples
US20080029574A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with actuator at distal end
US20100224669A1 (en) 2006-08-02 2010-09-09 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US7448525B2 (en) 2006-08-02 2008-11-11 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with manually operated retraction apparatus
US20080029575A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Surgical cutting and fastening instrument with distally mounted pneumatically powered rotary drive member
US7740159B2 (en) 2006-08-02 2010-06-22 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with a variable control of the actuating rate of firing with mechanical power assist
US20080029570A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with improved volume storage
US7441684B2 (en) 2006-08-02 2008-10-28 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with audible and visual feedback features
US7431189B2 (en) 2006-08-02 2008-10-07 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with mechanical linkage coupling end effector and trigger motion
US20080029573A1 (en) 2006-08-02 2008-02-07 Shelton Frederick E Pneumatically powered surgical cutting and fastening instrument with replaceable power sources
US20080030170A1 (en) 2006-08-03 2008-02-07 Bruno Dacquay Safety charging system for surgical hand piece
WO2008021969A2 (en) 2006-08-09 2008-02-21 Coherex Medical, Inc. Methods, systems and devices for reducing the size of an internal tissue opening
US7708758B2 (en) 2006-08-16 2010-05-04 Cambridge Endoscopic Devices, Inc. Surgical instrument
EP1897502A1 (en) 2006-09-11 2008-03-12 Tyco Healthcare Group Lp Rotating knob locking mechanism for surgical stapling device
US7780663B2 (en) 2006-09-22 2010-08-24 Ethicon Endo-Surgery, Inc. End effector coatings for electrosurgical instruments
US20100133317A1 (en) 2006-09-29 2010-06-03 Shelton Iv Frederick E Motor-Driven Surgical Cutting And Fastening Instrument with Tactile Position Feedback
US7794475B2 (en) 2006-09-29 2010-09-14 Ethicon Endo-Surgery, Inc. Surgical staples having compressible or crushable members for securing tissue therein and stapling instruments for deploying the same
US20110060363A1 (en) 2006-09-29 2011-03-10 Ethicon Endo-Surgery, Inc. Surgical staples having compressible or crushable members for securing tissue therein and stapling instruments for deploying the same
US7506791B2 (en) 2006-09-29 2009-03-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with mechanical mechanism for limiting maximum tissue compression
US7966799B2 (en) 2006-09-29 2011-06-28 Ethicon Endo-Surgery, Inc. Method of manufacturing staples
US8220690B2 (en) 2006-09-29 2012-07-17 Ethicon Endo-Surgery, Inc. Connected surgical staples and stapling instruments for deploying the same
US20080078800A1 (en) 2006-09-29 2008-04-03 Hess Christopher J Surgical stapling instruments and staples
US20080082126A1 (en) 2006-09-29 2008-04-03 Murray Michael A Surgical staple having a deformable member with a non-circular cross-sectional geometry
US20120234897A1 (en) 2006-09-29 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical cutting and stapling instrument with self adjusting anvil
US8348131B2 (en) 2006-09-29 2013-01-08 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with mechanical indicator to show levels of tissue compression
US20080078803A1 (en) 2006-09-29 2008-04-03 Shelton Frederick E Surgical staples having attached drivers and stapling instruments for deploying the same
US20080082114A1 (en) 2006-09-29 2008-04-03 Mckenna Robert H Adhesive Mechanical Fastener for Lumen Creation Utilizing Tissue Necrosing Means
US20080078802A1 (en) 2006-09-29 2008-04-03 Hess Christopher J Surgical staples and stapling instruments
US7665647B2 (en) 2006-09-29 2010-02-23 Ethicon Endo-Surgery, Inc. Surgical cutting and stapling device with closure apparatus for limiting maximum tissue compression force
US8360297B2 (en) 2006-09-29 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical cutting and stapling instrument with self adjusting anvil
US20080082125A1 (en) 2006-09-29 2008-04-03 Murray Michael A Surgical staple having a deformable member with a non-circular cross-sectional geometry
WO2008039249A1 (en) 2006-09-29 2008-04-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with mechanical mechanism for limiting maximum tissue compression
US8365976B2 (en) 2006-09-29 2013-02-05 Ethicon Endo-Surgery, Inc. Surgical staples having dissolvable, bioabsorbable or biofragmentable portions and stapling instruments for deploying the same
WO2008039270A1 (en) 2006-09-29 2008-04-03 Ethicon Endo-Surgery, Inc. Surgical staples having compressible or crushable members for securing tissue therein and stapling instruments for deploying the same
US20080083813A1 (en) 2006-10-05 2008-04-10 Michael Zemlok Method and force-limiting handle mechanism for a surgical instrument
WO2008045383A2 (en) 2006-10-06 2008-04-17 Tyco Healthcare Group Lp Surgical instrument having a multi-layered drive beam
US7871418B2 (en) 2006-10-06 2011-01-18 Ethicon Endo-Surgery, Inc. Applier for fastener for single lumen access anastomosis
US20080262654A1 (en) 2006-10-25 2008-10-23 Terumo Kabushiki Kaisha Manipulator system
US20080183193A1 (en) 2006-10-25 2008-07-31 Terumo Kabushiki Kaisha Manipulator for medical use
US8245901B2 (en) 2006-10-26 2012-08-21 Tyco Healthcare Group Lp Methods of using shape memory alloys for buttress attachment
US8028883B2 (en) 2006-10-26 2011-10-04 Tyco Healthcare Group Lp Methods of using shape memory alloys for buttress attachment
JP5033988B2 (en) 2006-10-30 2012-09-26 株式会社大一商会 Game machine
US20080129253A1 (en) 2006-11-03 2008-06-05 Advanced Desalination Inc. Battery energy reclamation apparatus and method thereby
US7708180B2 (en) 2006-11-09 2010-05-04 Ethicon Endo-Surgery, Inc. Surgical fastening device with initiator impregnation of a matrix or buttress to improve adhesive application
US7780685B2 (en) 2006-11-09 2010-08-24 Ethicon Endo-Surgery, Inc. Adhesive and mechanical fastener
US20080114385A1 (en) 2006-11-10 2008-05-15 Byrum Randal T Method and Device for Effecting Anastomosis of Hollow Organ Structures Using Adhesive and Fasteners
US7721930B2 (en) 2006-11-10 2010-05-25 Thicon Endo-Surgery, Inc. Disposable cartridge with adhesive for use with a stapling device
WO2008070763A1 (en) 2006-12-06 2008-06-12 Ethicon Endo-Surgery, Inc Safety fastener for tissue apposition
US7721931B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Prevention of cartridge reuse in a surgical instrument
US7954682B2 (en) 2007-01-10 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical instrument with elements to communicate between control unit and end effector
US20110132963A1 (en) 2007-01-10 2011-06-09 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and remote sensor
EP1943976A2 (en) 2007-01-10 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical instrument with enhaqnced battery performance
US20110295270A1 (en) 2007-01-10 2011-12-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
EP1943955A2 (en) 2007-01-10 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and remote sensor
EP1943957A2 (en) 2007-01-10 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US20080167672A1 (en) 2007-01-10 2008-07-10 Giordano James R Surgical instrument with wireless communication between control unit and remote sensor
US20080167522A1 (en) 2007-01-10 2008-07-10 Giordano James R Surgical instrument with wireless communication between control unit and sensor transponders
US20110174861A1 (en) 2007-01-10 2011-07-21 Shelton Iv Frederick E Surgical Instrument With Wireless Communication Between Control Unit and Remote Sensor
US20100294829A1 (en) 2007-01-10 2010-11-25 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between control unit and sensor transponders
US20100301095A1 (en) 2007-01-10 2010-12-02 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US7738971B2 (en) 2007-01-10 2010-06-15 Ethicon Endo-Surgery, Inc. Post-sterilization programming of surgical instruments
US20100222901A1 (en) 2007-01-10 2010-09-02 Swayze Jeffrey S Post-Sterilization Programming of Surgical Instruments
US7721936B2 (en) 2007-01-10 2010-05-25 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US7900805B2 (en) 2007-01-10 2011-03-08 Ethicon Endo-Surgery, Inc. Surgical instrument with enhanced battery performance
US20120211546A1 (en) 2007-01-10 2012-08-23 Ethicon Endo-Surgery, Inc. Drive interface for operably coupling a manipulatable surgical tool to a robot
US20080169332A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapling device with a curved cutting member
EP1943964A1 (en) 2007-01-11 2008-07-16 Ethicon Endo-Surgery, Inc. Surgical stapling device having supports for a flexible drive mechanism
US20080169329A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Curved end effector for a surgical stapling device
US20080169331A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapling device having supports for a flexible drive mechanism
US20080169328A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Buttress material for use with a surgical stapler
US20080169330A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapling device with a curved end effector
US7434717B2 (en) 2007-01-11 2008-10-14 Ethicon Endo-Surgery, Inc. Apparatus for closing a curved anvil of a surgical stapling device
US20080169333A1 (en) 2007-01-11 2008-07-17 Shelton Frederick E Surgical stapler end effector with tapered distal end
US20080172088A1 (en) 2007-01-12 2008-07-17 Ethicon Endo-Surgery, Inc. Adjustable Compression Staple and Method for Stapling with Adjustable Compression
US20120046692A1 (en) 2007-01-12 2012-02-23 Smith Kevin W Adjustable Compression Staple and Method for Stapling with Adjustable Compression
WO2008089404A2 (en) 2007-01-19 2008-07-24 Synovis Life Technologies, Inc. Circular stapler anvil introducer
US20100096431A1 (en) 2007-02-12 2010-04-22 Ethicon Endo-Surgery, Inc. Active braking electrical surgical iinstrument and method for braking such an instrument
US20100072254A1 (en) 2007-03-06 2010-03-25 Tyco Healthcare Group Lp Surgical stapling apparatus
US8011555B2 (en) 2007-03-06 2011-09-06 Tyco Healthcare Group Lp Surgical stapling apparatus
US20100012704A1 (en) 2007-03-06 2010-01-21 Danyel Tarinelli Racenet Surgical Stapling Apparatus
WO2008109125A1 (en) 2007-03-06 2008-09-12 Tyco Healthcare Group Lp Surgical stapling apparatus
US20090005809A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Surgical staple having a slidable crown
US20110192882A1 (en) 2007-03-15 2011-08-11 Ethicon Endo-Surgery, Inc. Surgical staple having an expandable portion
US20090005807A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Surgical staple having a slidable crown
US7422136B1 (en) 2007-03-15 2008-09-09 Tyco Healthcare Group Lp Powered surgical stapling device
US7637409B2 (en) 2007-03-15 2009-12-29 Tyco Healthcare Group Lp Powered surgical stapling device
EP1970014A1 (en) 2007-03-15 2008-09-17 Tyco Healthcare Group, LP Powered surgical stapling device
US7673782B2 (en) 2007-03-15 2010-03-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a releasable buttress material
US20090001124A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Staple cartridge cavity configurations
US7431188B1 (en) 2007-03-15 2008-10-07 Tyco Healthcare Group Lp Surgical stapling apparatus with powered articulation
US7669747B2 (en) 2007-03-15 2010-03-02 Ethicon Endo-Surgery, Inc. Washer for use with a surgical stapling instrument
US20090001121A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Surgical staple having an expandable portion
US20090005808A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Staple cartridge cavity configuration with cooperative surgical staple
US7604151B2 (en) 2007-03-15 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features
US8020742B2 (en) 2007-03-15 2011-09-20 Tyco Healthcare Group Lp Powered surgical stapling device
US20100243709A1 (en) 2007-03-15 2010-09-30 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a releasable buttress material
US8186560B2 (en) 2007-03-15 2012-05-29 Ethicon Endo-Surgery, Inc. Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features
US7438209B1 (en) 2007-03-15 2008-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instruments having a releasable staple-forming pocket
US20090001130A1 (en) 2007-03-15 2009-01-01 Hess Christopher J Surgical procedure using a cutting and stapling instrument having releasable staple-forming pockets
US7735703B2 (en) 2007-03-15 2010-06-15 Ethicon Endo-Surgery, Inc. Re-loadable surgical stapling instrument
US20120292370A1 (en) 2007-03-15 2012-11-22 Hess Christopher J Surgical stapling systems and staple cartridges for deploying surgical staples with tissue compression features
US20090012556A1 (en) 2007-03-28 2009-01-08 Boudreaux Chad P Laparoscopic tissue thickness and clamp load measuring devices
US7490749B2 (en) 2007-03-28 2009-02-17 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with manually retractable firing member
US8056787B2 (en) 2007-03-28 2011-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with travel-indicating retraction member
WO2008124748A1 (en) 2007-04-09 2008-10-16 Adrian Edward Park Frame device
US7950560B2 (en) 2007-04-13 2011-05-31 Tyco Healthcare Group Lp Powered surgical instrument
US20080251568A1 (en) 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
US20080255413A1 (en) 2007-04-13 2008-10-16 Michael Zemlok Powered surgical instrument
EP1980213A2 (en) 2007-04-13 2008-10-15 Tyco Healthcare Group, LP Powered surgical instrument
US7887530B2 (en) 2007-04-13 2011-02-15 Tyco Healthcare Group Lp Powered surgical instrument
EP1990014A2 (en) 2007-05-10 2008-11-12 Tyco Healthcare Group LP Powered tacker instrument
US20100294827A1 (en) 2007-05-16 2010-11-25 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Maneuverable surgical stapler
US7832611B2 (en) 2007-05-16 2010-11-16 The Invention Science Fund I, Llc Steerable surgical stapler
US20080283570A1 (en) 2007-05-16 2008-11-20 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Gentle touch surgical stapler
US20080290134A1 (en) 2007-05-25 2008-11-27 Michael Bettuchi Staple buttress retention system
US8256654B2 (en) 2007-05-25 2012-09-04 Tyco Healthcare Group Lp Staple buttress retention system
US8038045B2 (en) 2007-05-25 2011-10-18 Tyco Healthcare Group Lp Staple buttress retention system
US7810693B2 (en) 2007-05-30 2010-10-12 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with articulatable end effector
US7798386B2 (en) 2007-05-30 2010-09-21 Ethicon Endo-Surgery, Inc. Surgical instrument articulation joint cover
US8157145B2 (en) 2007-05-31 2012-04-17 Ethicon Endo-Surgery, Inc. Pneumatically powered surgical cutting and fastening instrument with electrical feedback
US20080296346A1 (en) 2007-05-31 2008-12-04 Shelton Iv Frederick E Pneumatically powered surgical cutting and fastening instrument with electrical control and recording mechanisms
US20110042441A1 (en) 2007-06-04 2011-02-24 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US8196796B2 (en) 2007-06-04 2012-06-12 Ethicon Endo-Surgery, Inc. Shaft based rotary drive system for surgical instruments
US20120132450A1 (en) 2007-06-04 2012-05-31 Ethicon Endo-Surgery, Inc Shiftable drive interface for robotically-controlled surgical tool
EP2000102A2 (en) 2007-06-04 2008-12-10 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US7832408B2 (en) 2007-06-04 2010-11-16 Ethicon Endo-Surgery, Inc. Surgical instrument having a directional switching mechanism
US7819299B2 (en) 2007-06-04 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical instrument having a common trigger for actuating an end effector closing system and a staple firing system
US7905380B2 (en) 2007-06-04 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a multiple rate directional switching mechanism
US20110290854A1 (en) 2007-06-04 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US20090218384A1 (en) 2007-06-18 2009-09-03 Ernie Aranyi Structure for attachment of buttress material to anvils and cartridges of surgical staplers
US7510107B2 (en) 2007-06-18 2009-03-31 Ethicon Endo-Surgery, Inc. Cable driven surgical stapling and cutting instrument with apparatus for preventing inadvertent cable disengagement
EP2005896B1 (en) 2007-06-18 2010-10-06 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved closure system
US7665646B2 (en) 2007-06-18 2010-02-23 Tyco Healthcare Group Lp Interlocking buttress material retention system
US7588175B2 (en) 2007-06-18 2009-09-15 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved firing system
US7588176B2 (en) 2007-06-18 2009-09-15 Ethicon Endo-Surgery, Inc. Surgical cutting instrument with improved closure system
US20080308608A1 (en) 2007-06-18 2008-12-18 Prommersberger Megan L Interlocking buttress material retention system
US20080308603A1 (en) 2007-06-18 2008-12-18 Shelton Frederick E Cable driven surgical stapling and cutting instrument with improved cable attachment arrangements
US20080308602A1 (en) 2007-06-18 2008-12-18 Timm Richard W Surgical stapling and cutting instruments
US7731072B2 (en) 2007-06-18 2010-06-08 Ethicon Endo-Surgery, Inc. Surgical stapling and cutting instrument with improved anvil opening features
US8308040B2 (en) 2007-06-22 2012-11-13 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US7954684B2 (en) 2007-06-22 2011-06-07 Ehticon Endo-Surgery, Inc. Surgical stapling instrument with a firing member return mechanism
US8353437B2 (en) 2007-06-22 2013-01-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a geared return mechanism
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US8322589B2 (en) 2007-06-22 2012-12-04 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US20100264193A1 (en) 2007-06-22 2010-10-21 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US20080314960A1 (en) 2007-06-22 2008-12-25 Stanislaw Marczyk Detachable buttress material retention systems for use with a surgical stapling device
US7597229B2 (en) 2007-06-22 2009-10-06 Ethicon Endo-Surgery, Inc. End effector closure system for a surgical stapling instrument
US8333313B2 (en) 2007-06-22 2012-12-18 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a firing member return mechanism
US7549564B2 (en) 2007-06-22 2009-06-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulating end effector
US7845533B2 (en) 2007-06-22 2010-12-07 Tyco Healthcare Group Lp Detachable buttress material retention systems for use with a surgical stapling device
US7658311B2 (en) 2007-06-22 2010-02-09 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a geared return mechanism
US7441685B1 (en) 2007-06-22 2008-10-28 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a return mechanism
US7604150B2 (en) 2007-06-22 2009-10-20 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an anti-back up mechanism
EP2008595A2 (en) 2007-06-27 2008-12-31 Tyco Healthcare Group LP Buttress and surgical stapling apparatus
US20090001122A1 (en) 2007-06-27 2009-01-01 Megan Prommersberger Buttress and surgical stapling apparatus
US8062330B2 (en) 2007-06-27 2011-11-22 Tyco Healthcare Group Lp Buttress and surgical stapling apparatus
US7600663B2 (en) 2007-07-05 2009-10-13 Green David T Apparatus for stapling and incising tissue
US7556185B2 (en) 2007-08-15 2009-07-07 Tyco Healthcare Group Lp Surgical instrument with flexible drive mechanism
EP2030578B1 (en) 2007-08-29 2010-11-03 Tyco Healthcare Group LP Rotary knife cutting systems
US7624902B2 (en) 2007-08-31 2009-12-01 Tyco Healthcare Group Lp Surgical stapling apparatus
EP2039316A2 (en) 2007-09-24 2009-03-25 Tyco Healthcare Group LP Insertion shroud for surgical instrument
US8108072B2 (en) 2007-09-30 2012-01-31 Intuitive Surgical Operations, Inc. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information
US20090088774A1 (en) 2007-09-30 2009-04-02 Nitish Swarup Apparatus and method of user interface with alternate tool mode for robotic surgical tools
US20090090763A1 (en) 2007-10-05 2009-04-09 Tyco Healthcare Group Lp Powered surgical stapling device
EP2044890A1 (en) 2007-10-05 2009-04-08 Tyco Healthcare Group LP Powered surgical stapling device
US20090093728A1 (en) 2007-10-05 2009-04-09 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Vasculature and lymphatic system imaging and ablation associated with a reservoir
US20110017801A1 (en) 2007-10-05 2011-01-27 Tyco Healthcare Group Lp Internal backbone structural chassis for a surgical device
US20110022032A1 (en) 2007-10-05 2011-01-27 Tyco Healthcare Group Lp Battery ejection design for a surgical device
US20090112229A1 (en) 2007-10-31 2009-04-30 Terumo Kabushiki Kaisha Manipulator for medical use
US20090108048A1 (en) 2007-10-31 2009-04-30 Tyco Healthcare Group Lp Powered surgical instrument
US7922063B2 (en) 2007-10-31 2011-04-12 Tyco Healthcare Group, Lp Powered surgical instrument
US20090114701A1 (en) 2007-11-06 2009-05-07 Tyco Healthcare Group Lp Coated Surgical Staples and an Illuminated Staple Cartridge for a Surgical Stapling Instrument
US20100312261A1 (en) 2007-11-30 2010-12-09 Sumitomo Bakelite Co., Ltd. Sheath for gastrostoma, sheathed dilator, sheath for gastrostoma with insertion aid, gastrostomy catheter kit, and method of splitting sheath for gastrostoma
US20090143805A1 (en) 2007-12-03 2009-06-04 Palmer Matthew A Cordless Hand-Held Ultrasonic Cautery Cutting Device
US7772720B2 (en) 2007-12-03 2010-08-10 Spx Corporation Supercapacitor and charger for secondary power
US20090157067A1 (en) 2007-12-17 2009-06-18 Thermage, Inc. Method and apparatus for digital signal processing for radio frequency surgery measurements
US20110226837A1 (en) 2008-02-13 2011-09-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20110011914A1 (en) 2008-02-13 2011-01-20 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US7766209B2 (en) 2008-02-13 2010-08-03 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US20110068145A1 (en) 2008-02-13 2011-03-24 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US20110290855A1 (en) 2008-02-14 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled disposable motor-driven loading unit
US20130041371A1 (en) 2008-02-14 2013-02-14 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having a magnetic drive train torque limiting device
US8196795B2 (en) 2008-02-14 2012-06-12 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US7819296B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with retractable firing systems
US7810692B2 (en) 2008-02-14 2010-10-12 Ethicon Endo-Surgery, Inc. Disposable loading unit with firing indicator
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US20120286019A1 (en) 2008-02-14 2012-11-15 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with load-sensitive firing mechanism
US7861906B2 (en) 2008-02-14 2011-01-04 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with articulatable components
US20110132965A1 (en) 2008-02-14 2011-06-09 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US8113410B2 (en) 2008-02-14 2012-02-14 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features
US20120199633A1 (en) 2008-02-14 2012-08-09 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with cam-driven staple deployment arrangements
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US7793812B2 (en) 2008-02-14 2010-09-14 Ethicon Endo-Surgery, Inc. Disposable motor-driven loading unit for use with a surgical cutting and stapling apparatus
US7857185B2 (en) 2008-02-14 2010-12-28 Ethicon Endo-Surgery, Inc. Disposable loading unit for surgical stapling apparatus
US20090206133A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Articulatable loading units for surgical stapling and cutting instruments
US7913891B2 (en) 2008-02-14 2011-03-29 Ethicon Endo-Surgery, Inc. Disposable loading unit with user feedback features and surgical instrument for use therewith
US20110006099A1 (en) 2008-02-14 2011-01-13 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US20120205421A1 (en) 2008-02-14 2012-08-16 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US7819297B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with reprocessible handle assembly
US20090209979A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Motorized cutting and fastening instrument having control circuit for optimizing battery usage
EP2090243B1 (en) 2008-02-14 2011-06-15 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US20090209946A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Interchangeable tools for surgical instruments
EP2090256A2 (en) 2008-02-14 2009-08-19 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US20110068148A1 (en) 2008-02-14 2011-03-24 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US20110125176A1 (en) 2008-02-14 2011-05-26 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
US20090209990A1 (en) 2008-02-14 2009-08-20 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument having handle based power source
US20110288573A1 (en) 2008-02-14 2011-11-24 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US7959051B2 (en) 2008-02-15 2011-06-14 Ethicon Endo-Surgery, Inc. Closure systems for a surgical cutting and stapling instrument
US20090206142A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material for a surgical stapling instrument
EP2090237A1 (en) 2008-02-15 2009-08-19 Ethicon Endo-Surgery, Inc. Buttress material for a surgical instrument
US20090206139A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material for a surgical instrument
US20090206125A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Packaging for attaching buttress material to a surgical stapling instrument
EP2090244A2 (en) 2008-02-15 2009-08-19 Ethicon Endo-Surgery, Inc. Surgical end effector having buttress retention features
US20090206132A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Feedback and lockout mechanism for surgical instrument
US8371491B2 (en) 2008-02-15 2013-02-12 Ethicon Endo-Surgery, Inc. Surgical end effector having buttress retention features
US7980443B2 (en) 2008-02-15 2011-07-19 Ethicon Endo-Surgery, Inc. End effectors for a surgical cutting and stapling instrument
US20090206126A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material with alignment and retention features for use with surgical end effectors
US20090206137A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Disposable loading units for a surgical cutting and stapling instrument
EP2090245A1 (en) 2008-02-15 2009-08-19 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US20110132964A1 (en) 2008-02-15 2011-06-09 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
US20090206141A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. Buttress material having an activatable adhesive
US20090206131A1 (en) 2008-02-15 2009-08-20 Ethicon Endo-Surgery, Inc. End effector coupling arrangements for a surgical cutting and stapling instrument
EP2095777A2 (en) 2008-02-28 2009-09-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20090242610A1 (en) 2008-03-26 2009-10-01 Shelton Iv Frederick E Disposable loading unit and surgical instruments including same
US8220468B2 (en) 2008-03-31 2012-07-17 Intuitive Surgical Operations, Inc. Sterile drape interface for robotic surgical instrument
US20090255974A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Single loop surgical fastener apparatus for applying variable compression
US20090255977A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener apparatus
US20090255975A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US20090255976A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
US20090255978A1 (en) 2008-04-14 2009-10-15 Tyco Healthcare Group Lp Variable compression surgical fastener cartridge
EP2110083A2 (en) 2008-04-14 2009-10-21 Tyco Healthcare Group LP Variable compression surgical fastener catridge
EP2110082A1 (en) 2008-04-14 2009-10-21 Tyco Healthcare Group LP Variable compression surgical fastener apparatus
US8091756B2 (en) 2008-05-09 2012-01-10 Tyco Healthcare Group Lp Varying tissue compression using take-up component
EP2116195A1 (en) 2008-05-09 2009-11-11 Tyco Healthcare Group LP Varying tissue compression using take-up component
US20110087279A1 (en) 2008-05-21 2011-04-14 Bhavin Shah Devices and methods for applying bolster materials to surgical fastening apparatuses
US7922061B2 (en) 2008-05-21 2011-04-12 Ethicon Endo-Surgery, Inc. Surgical instrument with automatically reconfigurable articulating end effector
US7942303B2 (en) 2008-06-06 2011-05-17 Tyco Healthcare Group Lp Knife lockout mechanisms for surgical instrument
US20090308907A1 (en) 2008-06-12 2009-12-17 Nalagatla Anil K Partially reusable surgical stapler
US8011551B2 (en) 2008-07-01 2011-09-06 Tyco Healthcare Group Lp Retraction mechanism with clutch-less drive for use with a surgical apparatus
US20100023024A1 (en) 2008-07-25 2010-01-28 Zeiner Mark S Reloadable laparoscopic fastener deploying device with disposable cartridge for use in a gastric volume reduction procedure
US8211125B2 (en) 2008-08-15 2012-07-03 Ethicon Endo-Surgery, Inc. Sterile appliance delivery device for endoscopic procedures
US20100049084A1 (en) 2008-08-22 2010-02-25 Nock Andrew P Biopsy marker delivery device
US7837080B2 (en) 2008-09-18 2010-11-23 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with device for indicating when the instrument has cut through tissue
US20100069942A1 (en) 2008-09-18 2010-03-18 Ethicon Endo-Surgery, Inc. Surgical instrument with apparatus for measuring elapsed time between actions
US8083120B2 (en) 2008-09-18 2011-12-27 Ethicon Endo-Surgery, Inc. End effector for use with a surgical cutting and stapling instrument
US20110155787A1 (en) 2008-09-19 2011-06-30 Ethicon Endo-Surgery, Inc. Staple cartridge
US8205781B2 (en) 2008-09-19 2012-06-26 Ethicon Endo-Surgery, Inc. Surgical stapler with apparatus for adjusting staple height
US7954686B2 (en) 2008-09-19 2011-06-07 Ethicon Endo-Surgery, Inc. Surgical stapler with apparatus for adjusting staple height
US7832612B2 (en) 2008-09-19 2010-11-16 Ethicon Endo-Surgery, Inc. Lockout arrangement for a surgical stapler
US20100213241A1 (en) 2008-09-19 2010-08-26 Ethicon Endo-Surgery, Inc. Staple cartridge
US7905381B2 (en) 2008-09-19 2011-03-15 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with cutting member arrangement
US7857186B2 (en) 2008-09-19 2010-12-28 Ethicon Endo-Surgery, Inc. Surgical stapler having an intermediate closing position
US20110295269A1 (en) 2008-09-23 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical instrument
US20110125177A1 (en) 2008-09-23 2011-05-26 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US20120199631A1 (en) 2008-09-23 2012-08-09 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical end effector system with rotary actuated closure systems having variable actuation speeds
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US20100076475A1 (en) 2008-09-23 2010-03-25 Ethicon-Endo Surgery, Inc. Motorized surgical instrument
US20120265230A1 (en) 2008-09-23 2012-10-18 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US20100089970A1 (en) 2008-10-10 2010-04-15 Ethicon Endo-Surgery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8020743B2 (en) 2008-10-15 2011-09-20 Ethicon Endo-Surgery, Inc. Powered articulatable surgical cutting and fastening instrument with flexible drive member
US7918377B2 (en) 2008-10-16 2011-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with apparatus for providing anvil position feedback
US20100108741A1 (en) 2008-11-06 2010-05-06 Hessler Thomas R Surgical stapler
WO2010063795A1 (en) 2008-12-03 2010-06-10 Angiomed Gmbh & Co. Medizintechnik Kg Catheter sheath for implant delivery
US20100147922A1 (en) 2008-12-16 2010-06-17 Tyco Healthcare Group Lp Surgical Apparatus Including Surgical Buttress
US20100163598A1 (en) 2008-12-23 2010-07-01 Belzer George E Shield for surgical stapler and method of use
US20100193567A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising an articulation joint
US20100193568A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
US20100193569A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Sterilizable surgical instrument
US20100198220A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical instruments and components for use in sterile environments
US20100193566A1 (en) 2009-02-05 2010-08-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument
US20110024478A1 (en) 2009-02-06 2011-02-03 Shelton Iv Frederick E Driven Surgical Stapler Improvements
US20110006101A1 (en) 2009-02-06 2011-01-13 EthiconEndo-Surgery, Inc. Motor driven surgical fastener device with cutting member lockout arrangements
US20110024479A1 (en) 2009-02-06 2011-02-03 Swensgard Brett E Driven Surgical Stapler Improvements
US20110024477A1 (en) 2009-02-06 2011-02-03 Hall Steven G Driven Surgical Stapler Improvements
US20110011915A1 (en) 2009-02-06 2011-01-20 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with mechanisms for adjusting a tissue gap within the end effector
US20110006103A1 (en) 2009-02-06 2011-01-13 Ethicon Endo-Surgery, Inc. Motor driven surgical fastener device with cutting member reversing mechanism
WO2010098871A2 (en) 2009-02-26 2010-09-02 Amir Belson Improved apparatus and methods for hybrid endoscopic and laparoscopic surgery
US7918376B1 (en) 2009-03-09 2011-04-05 Cardica, Inc. Articulated surgical instrument
US8066167B2 (en) 2009-03-23 2011-11-29 Ethicon Endo-Surgery, Inc. Circular surgical stapling instrument with anvil locking system
US20100243707A1 (en) 2009-03-31 2010-09-30 Lee Olson Surgical stapling apparatus
US20100243708A1 (en) 2009-03-31 2010-09-30 Ernie Aranyi Surgical stapling apparatus
US20110036887A1 (en) 2009-08-11 2011-02-17 Tyco Healthcare Group Lp Surgical stapling apparatus
US8348129B2 (en) 2009-10-09 2013-01-08 Ethicon Endo-Surgery, Inc. Surgical stapler having a closure mechanism
US8141762B2 (en) 2009-10-09 2012-03-27 Ethicon Endo-Surgery, Inc. Surgical stapler comprising a staple pocket
US20110087276A1 (en) 2009-10-09 2011-04-14 Ethicon Endo-Surgery, Inc. Method for forming a staple
US8152041B2 (en) 2009-10-14 2012-04-10 Tyco Healthcare Group Lp Varying tissue compression aided by elastic members
US20110084112A1 (en) 2009-10-14 2011-04-14 Tyco Healthcare Group Lp Varying Tissue Compression Aided By Elastic Members
US20110095068A1 (en) 2009-10-28 2011-04-28 Nihir Patel Surgical fastening apparatus
US20110118754A1 (en) 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Motor interface for parallel drive shafts within an independently rotating member
US20110118761A1 (en) 2009-11-19 2011-05-19 Ethicon Endo-Surgery Circular stapler introducer with rigid distal end portion
US20110114700A1 (en) 2009-11-19 2011-05-19 Ethicon Endo-Surgery, Inc. Devices and methods for introducing a surgical circular stapling instrument into a patient
US20110114697A1 (en) 2009-11-19 2011-05-19 Ethicon Endo-Surgery, Inc. Circular stapler introducer with multi-lumen sheath
US8353438B2 (en) 2009-11-19 2013-01-15 Ethicon Endo-Surgery, Inc. Circular stapler introducer with rigid cap assembly configured for easy removal
US8353439B2 (en) 2009-11-19 2013-01-15 Ethicon Endo-Surgery, Inc. Circular stapler introducer with radially-openable distal end portion
US8136712B2 (en) 2009-12-10 2012-03-20 Ethicon Endo-Surgery, Inc. Surgical stapler with discrete staple height adjustment and tactile feedback
US8220688B2 (en) 2009-12-24 2012-07-17 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US20120239012A1 (en) 2009-12-24 2012-09-20 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument with electric actuator directional control assembly
US20110155781A1 (en) 2009-12-24 2011-06-30 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8267300B2 (en) 2009-12-30 2012-09-18 Ethicon Endo-Surgery, Inc. Dampening device for endoscopic surgical stapler
US20110163147A1 (en) 2010-01-07 2011-07-07 Ethicon Endo-Surgery, Inc. Test device for a surgical tool
US20110178536A1 (en) 2010-01-19 2011-07-21 Tyco Healthcare Group Lp Suture and retainer assembly and sulu
US20110275901A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Laparoscopic devices with articulating end effectors
US20110276083A1 (en) 2010-05-07 2011-11-10 Ethicon Endo-Surgery, Inc. Bendable shaft for handle positioning
US20120029272A1 (en) 2010-07-30 2012-02-02 Shelton Iv Frederick E Apparatus and methods for protecting adjacent structures during the insertion of a surgical instrument into a tubular organ
US20120029544A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Circular stapling instruments with secondary cutting arrangements and methods of using same
US20120024934A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Transwall visualization arrangements and methods for surgical circular staplers
US20120024936A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Linear cutting and stapling device with selectively disengageable cutting member
US20120029547A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Surgical circular stapler with tissue retention arrangements
US20120024935A1 (en) 2010-07-30 2012-02-02 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
WO2012021671A1 (en) 2010-08-12 2012-02-16 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with improved firing trigger arrangement
US8360296B2 (en) 2010-09-09 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
US20120071711A1 (en) 2010-09-17 2012-03-22 Ethicon Endo-Surgery, Inc. Surgical instruments and batteries for surgical instruments
US20120071866A1 (en) 2010-09-17 2012-03-22 Ethicon Endo-Surgery, Inc. Power control arrangements for surgical instruments and batteries
US20120074200A1 (en) 2010-09-24 2012-03-29 Ethicon Endo-Surgery, Inc. Surgical instrument with selectively articulatable end effector
US20120074201A1 (en) 2010-09-24 2012-03-29 Ethicon Endo-Surgery, Inc. Surgical instrument with trigger assembly for generating multiple actuation motions
US20120074198A1 (en) 2010-09-29 2012-03-29 Ethicon Endo-Surgery, Inc. Staple cartridge
US20120241496A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of capsules
US20120083836A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising an adjustable distal portion
US20120080501A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with interchangeable staple cartridge arrangements
US20120080334A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Selectively orientable implantable fastener cartridge
US20120080499A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Jaw closure arrangements for surgical instruments
US20120080487A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix and a cover
US20120080333A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix
US20120160721A1 (en) 2010-09-30 2012-06-28 Ethicon Endo-Surgery, Inc. Staple cartridge loading assembly
US20120080481A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Implantable fastener cartridge having a non-uniform arrangement
US20120080490A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising detachable portions
US20120080337A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising portions having different properties
US20120080340A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a variable thickness compressible portion
US20120080345A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Implantable fastener cartridge comprising bioabsorbable layers
US20120080335A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Compressible fastener cartridge
US20120080478A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical staple cartridges with detachable support structures and surgical stapling instruments with systems for preventing actuation motions when a cartridge is not present
US20120080482A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical staple cartridges supporting non-linearly arranged staples and surgical stapling instruments with common staple-forming pockets
US20120080484A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with a variable staple forming system
US20120080491A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising compressible distortion resistant components
US20120080502A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instruments with separate and distinct fastener deployment and tissue cutting systems
WO2012044844A2 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix and an alignment matrix
US20120083833A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a releasable portion
US20120080486A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a plurality of fastener cartridges
US20120080339A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Tissue thickness compensator for a surgical stapler
US20120080336A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples positioned within a compressible portion thereof
US20120083834A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Compressible staple cartridge comprising alignment members
US20120080498A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Curved end effector for a stapling instrument
US20120080344A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Implantable fastener cartridge comprising a support retainer
US20120080496A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical instruments with reconfigurable shaft segments
US20120241499A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Retainer assembly including a tissue thickness compensator
US20120080338A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Compressible staple cartridge assembly
US20120241501A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising structure to produce a resilient load
US20120241500A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising fibers to produce a resilient load
US20120241491A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Expandable tissue thickness compensator
US20120241492A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising at least one medicament
US20120241502A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising resilient members
US20120241493A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising controlled release and expansion
US20120241505A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensators for circular surgical staplers
US20120241503A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US20120241498A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of layers
US20120241497A1 (en) 2010-09-30 2012-09-27 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US20120253298A1 (en) 2010-09-30 2012-10-04 Ethicon Endo-Surgery, Inc. Layered tissue thickness compensator
US20120248169A1 (en) 2010-09-30 2012-10-04 Ethicon Endo-Surgery, Inc. Methods for forming tissue thickness compensator arrangements for surgical staplers
US20120083835A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a tissue thickness compensator
US20120080485A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastening instrument for deploying a fastener system comprising a retention matrix
US20120080488A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapler anvil comprising a plurality of forming pockets
US20120080480A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a plurality of connected retention matrix elements
US20120080493A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapler with floating anvil
US20120080489A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Tissue thickness compensator for a surgical stapler comprising an adjustable anvil
US20120080503A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fastener system comprising a retention matrix and an alignment matrix
US20120080500A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with compact articulation control arrangement
US20120080479A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Implantable fastener cartridge comprising multiple layers
US20120080332A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Collapsible fastener cartridge
US20120080483A1 (en) 2010-09-30 2012-04-05 Ethicon Endo-Surgery, Inc. Fasteners supported by a fastener cartridge support
US20120080477A1 (en) 2010-10-01 2012-04-05 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
USD650074S1 (en) 2010-10-01 2011-12-06 Ethicon Endo-Surgery, Inc. Surgical instrument
US20120150192A1 (en) 2010-11-15 2012-06-14 Intuitive Surgical Operations, Inc. Method for passively decoupling torque applied by a remote actuator into an independently rotating member
US20120187179A1 (en) 2011-01-26 2012-07-26 Gleiman Seth S Buttress Film With Hemostatic Action For Surgical Stapling Apparatus
US20120283707A1 (en) 2011-03-01 2012-11-08 Giordano James R Surgical instrument with wireless communication between control unit and remote sensor
US20120239082A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Tissue manipulation devices
US20120234898A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Circular stapling devices with tissue-puncturing anvil features
US20120234891A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Anvil assemblies with collapsible frames for circular staplers
US20120238824A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical bowel retractor devices
US20120238829A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Modular tool heads for use with circular surgical instruments
US20120234892A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Multiple part anvil assemblies for circular surgical stapling devices
US20120238826A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Trans-rectum universal ports
US20120238823A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical access devices with anvil introduction and specimen retrieval structures
US20120239075A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Rectal manipulation devices
US20120239010A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Modular surgical tool systems
US20120234890A1 (en) 2011-03-14 2012-09-20 Ethicon Endo-Surgery, Inc. Collapsible anvil plate assemblies for circular surgical stapling devices
US20120234896A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges
US20120239009A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical instruments with articulatable and rotatable end effector
US20120234899A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical fastener instruments
US20120234893A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical instruments with lockable articulating end effector
US20120234895A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges and end effectors with vessel measurement arrangements
US20120234900A1 (en) 2011-03-15 2012-09-20 Ethicon Endo-Surgery, Inc. Surgical staple cartridges with tissue tethers for manipulating divided tissue and methods of using same
US20120298719A1 (en) 2011-05-27 2012-11-29 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements

Non-Patent Citations (57)

* Cited by examiner, † Cited by third party
Title
"Biomedical Coatings," Fort Wayne Metals, Research Products Corporation, obtained online at www.fwmetals.com on Jun. 21, 2010 (1 page).
ASTM procedure D2240-00, "Standard Test Method for Rubber Property-Durometer Hardness," (Published Aug. 2000).
ASTM procedure D2240-05, "Standard Test Method for Rubber Property-Durometer Hardness," (Published Apr. 2010).
B.R. Coolman, DVM, MS et al., "Comparison of Skin Staples With Sutures for Anastomosis of the Small Intestine in Dogs," Abstract; http://www.blackwell-synergy.com/doi/abs/10.1053/jvet.2000.7539?cookieSet=1&journalCode=vsu which redirects to http://www3.interscience.wiley.com/journa1/119040681/abstract?CRETRY=1&SRETRY=0; [online] accessed: Sep. 22, 2008 (2 pages).
Breedveld et al., "A New, Easily Miniaturized Sterrable Endoscope," IEEE Engineering in Medicine and Biology Magazine (Nov./Dec. 2005).
C.C. Thompson et al., "Peroral Endoscopic Reduction of Dilated Gastrojejunal Anastomosis After Roux-en-Y Gastric Bypass: A Possible New Option for Patients with Weight Regain," Surg Endosc (2006) vol. 20, pp. 1744-1748.
Covidien Brochure, "Endo GIA(TM) Reloads with Tri-Staple(TM) Technology and Endo GIA(TM) Ultra Universal Staplers," (2010), 2 pages.
Covidien Brochure, "Endo GIA(TM) Reloads with Tri-Staple(TM) Technology," (2010), 2 pages.
Covidien Brochure, "Endo GIA(TM) Ultra Universal Stapler," (2010), 2 pages.
Covidien Brochure, "Endo GIA(TM) with Tri-Staple(TM) Technology," (2010), 1 page.
Covidien Brochure, "Endo GIA™ Reloads with Tri-Staple™ Technology and Endo GIA™ Ultra Universal Staplers," (2010), 2 pages.
Covidien Brochure, "Endo GIA™ Reloads with Tri-Staple™ Technology," (2010), 2 pages.
Covidien Brochure, "Endo GIA™ Ultra Universal Stapler," (2010), 2 pages.
Covidien Brochure, "Endo GIA™ with Tri-Staple™ Technology," (2010), 1 page.
Covidient Brochure, "Endo GIA(TM) Black Reload with Tri-Staple(TM) Technology," (2012), 2 pages.
Covidient Brochure, "Endo GIA(TM) Curved Tip Reload with Tri-Staple(TM) Technology," (2012), 2 pages.
Covidient Brochure, "Endo GIA™ Black Reload with Tri-Staple™ Technology," (2012), 2 pages.
Covidient Brochure, "Endo GIA™ Curved Tip Reload with Tri-Staple™ Technology," (2012), 2 pages.
D. Tuite, Ed., "Get The Lowdown On Ultracapacitors," Nov. 15, 2007; [online] URL: http://electronicdesign.conn/Articles/Print.cfm?ArticleID=17465, accessed Jan. 15, 2008 (5 pages).
Datasheet for Panasonic TK Relays Ultra Low Profile 2 A Polarized Relay, Copyright Matsushita Electric Works, Ltd. (Known of at least as early as Aug. 17, 2010), 5 pages.
Disclosed Anonymously, "Motor-Driven Surgical Stapler Improvements," Research Disclosure Database No. 526041, Published: Feb. 2008.
European Examination Report for 08250671.8, dated Mar. 24, 2009 (6 pages).
European Examination Report for 08250671.8, dated Nov. 21, 2012 (5 pages).
European Examination Report, Application 08250664.3, dated Feb. 24, 2010 (6 pages).
European Examination Report, Application 08250668.4, dated Dec. 10, 2009 (5 pages).
European Examination Report, Application No. 08250661.9, dated Feb. 24, 2010 (6 pages).
European Search Report, Application 06254511.6, dated Jan. 24, 2007 (8 pages).
European Search Report, Application 08250671.8, dated May 19, 2008 (9 pages).
European Search Report, Application No. 08250661.9, dated Jul. 28, 2009 (12 pages).
European Search Report, Application No. 08250664.3, dated Jul. 28, 2009 (11 pages).
European Search Report, Application No. 08250667.6, dated May 14, 2009 (6 pages).
European Search Report, Application No. 08250668.4, dated May 4, 2009 (7 pages).
European Search Report, Application No. 10178489.0, dated Nov. 29, 2010 (7 pages).
European Search Report, Application No. 10179946.8, dated Dec. 2, 2010 (7 pages).
European Search Report, Application No. 11161037.4, dated Sep. 6, 2011 (9 pages).
European Search Report, Application No. 11190802.6, dated Aug. 13, 2012 (8 pages).
Examination Report for European Patent Application No. 06254511.6, dated Feb. 13, 2008 (5 pages).
International Search Report and Written Opinion for PCT/US2012/039134, Aug. 31, 2012 (11 pages).
Observations by a Third Party, European Application No. 06254511.6, dated Feb. 7, 2008 (4 pages).
Partial European Search Report, Application No. 08250661.9, dated May 7, 2009 (6 pages).
Partial European Search Report, Application No. 08250664.3, dated May 7, 2009 (6 pages).
The Sodem Aseptic Battery Transfer Kit, Sodem Systems, (2000), 3 pages.
U.S. Appl. No. 12/031,542, filed Feb. 14, 2008.
U.S. Appl. No. 12/031,556, filed Feb. 14, 2008.
U.S. Appl. No. 12/031,573, filed Feb. 14, 2008.
U.S. Appl. No. 13/310,107, filed Dec. 2, 2011.
U.S. Appl. No. 13/369,629, filed Feb. 9, 2012.
U.S. Appl. No. 13/486,175, filed Jun. 1, 2012.
U.S. Pat. Appl. No. 13/965,877, filed Aug. 13, 2013.
U.S. Pat. Appl. No. 13/967,388, filed Aug. 15, 2013.
U.S. Pat. Appl. No. 13/967,449, Aug. 15, 2013.
U.S. Pat. Appl. No. 13/967,716, Aug. 15, 2013.
U.S. Pat. Appl. No. 13/970,971, filed Aug. 20, 2013.
U.S. Pat. Appl. No. 13/971,006, filed Aug. 20, 2013.
U.S. Pat. Appl. No. 13/971,012, filed Aug. 20, 2013.
U.S. Pat. Appl. No. 13/971,022, filed Aug. 20, 2013.
Van Meer et al., "A Disposable Plastic Compact Wrist for Smart Minimally Invasive Surgical Tools," LAAS/CNRS (Aug. 2005).

Cited By (2373)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150090766A1 (en) * 1997-09-23 2015-04-02 Covidien Lp Surgical Stapling Apparatus Including Sensing Mechanism
US9566067B2 (en) 1997-09-23 2017-02-14 Covidien Lp Surgical stapling apparatus including sensing mechanism
US9027817B2 (en) * 1997-09-23 2015-05-12 Covidien Lp Surgical stapling apparatus including sensing mechanism
US11229472B2 (en) 2001-06-12 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with multiple magnetic position sensors
US10835307B2 (en) 2001-06-12 2020-11-17 Ethicon Llc Modular battery powered handheld surgical instrument containing elongated multi-layered shaft
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US10874418B2 (en) 2004-02-27 2020-12-29 Ethicon Llc Ultrasonic surgical shears and method for sealing a blood vessel using same
US11730507B2 (en) 2004-02-27 2023-08-22 Cilag Gmbh International Ultrasonic surgical shears and method for sealing a blood vessel using same
US11896225B2 (en) 2004-07-28 2024-02-13 Cilag Gmbh International Staple cartridge comprising a pan
US9844379B2 (en) 2004-07-28 2017-12-19 Ethicon Llc Surgical stapling instrument having a clearanced opening
US11083456B2 (en) 2004-07-28 2021-08-10 Cilag Gmbh International Articulating surgical instrument incorporating a two-piece firing mechanism
US10716563B2 (en) 2004-07-28 2020-07-21 Ethicon Llc Stapling system comprising an instrument assembly including a lockout
US9603991B2 (en) 2004-07-28 2017-03-28 Ethicon Endo-Surgery, Llc Surgical stapling instrument having a medical substance dispenser
US10383634B2 (en) 2004-07-28 2019-08-20 Ethicon Llc Stapling system incorporating a firing lockout
US9737303B2 (en) 2004-07-28 2017-08-22 Ethicon Llc Articulating surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US11890012B2 (en) 2004-07-28 2024-02-06 Cilag Gmbh International Staple cartridge comprising cartridge body and attached support
US10799240B2 (en) 2004-07-28 2020-10-13 Ethicon Llc Surgical instrument comprising a staple firing lockout
US9737302B2 (en) 2004-07-28 2017-08-22 Ethicon Llc Surgical stapling instrument having a restraining member
US11882987B2 (en) 2004-07-28 2024-01-30 Cilag Gmbh International Articulating surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US10687817B2 (en) 2004-07-28 2020-06-23 Ethicon Llc Stapling device comprising a firing member lockout
US11684365B2 (en) 2004-07-28 2023-06-27 Cilag Gmbh International Replaceable staple cartridges for surgical instruments
US9585663B2 (en) 2004-07-28 2017-03-07 Ethicon Endo-Surgery, Llc Surgical stapling instrument configured to apply a compressive pressure to tissue
US10568629B2 (en) 2004-07-28 2020-02-25 Ethicon Llc Articulating surgical stapling instrument
US10314590B2 (en) 2004-07-28 2019-06-11 Ethicon Llc Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US9510830B2 (en) 2004-07-28 2016-12-06 Ethicon Endo-Surgery, Llc Staple cartridge
US11812960B2 (en) 2004-07-28 2023-11-14 Cilag Gmbh International Method of segmenting the operation of a surgical stapling instrument
US10485547B2 (en) 2004-07-28 2019-11-26 Ethicon Llc Surgical staple cartridges
US10292707B2 (en) 2004-07-28 2019-05-21 Ethicon Llc Articulating surgical stapling instrument incorporating a firing mechanism
US10293100B2 (en) 2004-07-28 2019-05-21 Ethicon Llc Surgical stapling instrument having a medical substance dispenser
US11135352B2 (en) 2004-07-28 2021-10-05 Cilag Gmbh International End effector including a gradually releasable medical adjunct
US10278702B2 (en) 2004-07-28 2019-05-07 Ethicon Llc Stapling system comprising a firing bar and a lockout
US11116502B2 (en) 2004-07-28 2021-09-14 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece firing mechanism
US10537352B2 (en) 2004-10-08 2020-01-21 Ethicon Llc Tissue pads for use with surgical instruments
US11006971B2 (en) 2004-10-08 2021-05-18 Ethicon Llc Actuation mechanism for use with an ultrasonic surgical instrument
US11090045B2 (en) 2005-08-31 2021-08-17 Cilag Gmbh International Staple cartridges for forming staples having differing formed staple heights
US9839427B2 (en) 2005-08-31 2017-12-12 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and a staple driver arrangement
US9561032B2 (en) 2005-08-31 2017-02-07 Ethicon Endo-Surgery, Llc Staple cartridge comprising a staple driver arrangement
US10245032B2 (en) 2005-08-31 2019-04-02 Ethicon Llc Staple cartridges for forming staples having differing formed staple heights
US10932774B2 (en) 2005-08-31 2021-03-02 Ethicon Llc Surgical end effector for forming staples to different heights
US10271845B2 (en) 2005-08-31 2019-04-30 Ethicon Llc Fastener cartridge assembly comprising a cam and driver arrangement
US11839375B2 (en) 2005-08-31 2023-12-12 Cilag Gmbh International Fastener cartridge assembly comprising an anvil and different staple heights
US10271846B2 (en) 2005-08-31 2019-04-30 Ethicon Llc Staple cartridge for use with a surgical stapler
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US10278697B2 (en) 2005-08-31 2019-05-07 Ethicon Llc Staple cartridge comprising a staple driver arrangement
US10463369B2 (en) 2005-08-31 2019-11-05 Ethicon Llc Disposable end effector for use with a surgical instrument
US11134947B2 (en) 2005-08-31 2021-10-05 Cilag Gmbh International Fastener cartridge assembly comprising a camming sled with variable cam arrangements
US10869664B2 (en) 2005-08-31 2020-12-22 Ethicon Llc End effector for use with a surgical stapling instrument
US11172927B2 (en) 2005-08-31 2021-11-16 Cilag Gmbh International Staple cartridges for forming staples having differing formed staple heights
US10420553B2 (en) 2005-08-31 2019-09-24 Ethicon Llc Staple cartridge comprising a staple driver arrangement
US11179153B2 (en) 2005-08-31 2021-11-23 Cilag Gmbh International Staple cartridges for forming staples having differing formed staple heights
US11793512B2 (en) 2005-08-31 2023-10-24 Cilag Gmbh International Staple cartridges for forming staples having differing formed staple heights
US9307988B2 (en) 2005-08-31 2016-04-12 Ethicon Endo-Surgery, Llc Staple cartridges for forming staples having differing formed staple heights
US10070863B2 (en) 2005-08-31 2018-09-11 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil
US9592052B2 (en) 2005-08-31 2017-03-14 Ethicon Endo-Surgery, Llc Stapling assembly for forming different formed staple heights
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US11771425B2 (en) 2005-08-31 2023-10-03 Cilag Gmbh International Stapling assembly for forming staples to different formed heights
US11272928B2 (en) 2005-08-31 2022-03-15 Cilag GmbH Intemational Staple cartridges for forming staples having differing formed staple heights
US10729436B2 (en) 2005-08-31 2020-08-04 Ethicon Llc Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US10842488B2 (en) 2005-08-31 2020-11-24 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US11730474B2 (en) 2005-08-31 2023-08-22 Cilag Gmbh International Fastener cartridge assembly comprising a movable cartridge and a staple driver arrangement
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US11576673B2 (en) 2005-08-31 2023-02-14 Cilag Gmbh International Stapling assembly for forming staples to different heights
US9326768B2 (en) 2005-08-31 2016-05-03 Ethicon Endo-Surgery, Llc Staple cartridges for forming staples having differing formed staple heights
US11484311B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US9848873B2 (en) 2005-08-31 2017-12-26 Ethicon Llc Fastener cartridge assembly comprising a driver and staple cavity arrangement
US11399828B2 (en) 2005-08-31 2022-08-02 Cilag Gmbh International Fastener cartridge assembly comprising a fixed anvil and different staple heights
US10321909B2 (en) 2005-08-31 2019-06-18 Ethicon Llc Staple cartridge comprising a staple including deformable members
US9844373B2 (en) 2005-08-31 2017-12-19 Ethicon Llc Fastener cartridge assembly comprising a driver row arrangement
US10245035B2 (en) 2005-08-31 2019-04-02 Ethicon Llc Stapling assembly configured to produce different formed staple heights
US10842489B2 (en) 2005-08-31 2020-11-24 Ethicon Llc Fastener cartridge assembly comprising a cam and driver arrangement
US9795382B2 (en) 2005-08-31 2017-10-24 Ethicon Llc Fastener cartridge assembly comprising a cam and driver arrangement
US10856896B2 (en) 2005-10-14 2020-12-08 Ethicon Llc Ultrasonic device for cutting and coagulating
US10806449B2 (en) 2005-11-09 2020-10-20 Ethicon Llc End effectors for surgical staplers
US9895147B2 (en) 2005-11-09 2018-02-20 Ethicon Llc End effectors for surgical staplers
US9968356B2 (en) 2005-11-09 2018-05-15 Ethicon Llc Surgical instrument drive systems
US11793511B2 (en) 2005-11-09 2023-10-24 Cilag Gmbh International Surgical instruments
US10149679B2 (en) 2005-11-09 2018-12-11 Ethicon Llc Surgical instrument comprising drive systems
US10993713B2 (en) 2005-11-09 2021-05-04 Ethicon Llc Surgical instruments
US11707335B2 (en) 2005-12-30 2023-07-25 Intuitive Surgical Operations, Inc. Wireless force sensor on a distal portion of a surgical instrument and method
US10779848B2 (en) 2006-01-20 2020-09-22 Ethicon Llc Ultrasound medical instrument having a medical ultrasonic blade
US11801051B2 (en) 2006-01-31 2023-10-31 Cilag Gmbh International Accessing data stored in a memory of a surgical instrument
US11350916B2 (en) 2006-01-31 2022-06-07 Cilag Gmbh International Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US10485539B2 (en) 2006-01-31 2019-11-26 Ethicon Llc Surgical instrument with firing lockout
US10499890B2 (en) 2006-01-31 2019-12-10 Ethicon Llc Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US10806479B2 (en) 2006-01-31 2020-10-20 Ethicon Llc Motor-driven surgical cutting and fastening instrument with tactile position feedback
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US11890029B2 (en) 2006-01-31 2024-02-06 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument
US10342533B2 (en) 2006-01-31 2019-07-09 Ethicon Llc Surgical instrument
US11883020B2 (en) 2006-01-31 2024-01-30 Cilag Gmbh International Surgical instrument having a feedback system
US10335144B2 (en) 2006-01-31 2019-07-02 Ethicon Llc Surgical instrument
US9113874B2 (en) 2006-01-31 2015-08-25 Ethicon Endo-Surgery, Inc. Surgical instrument system
US9439649B2 (en) 2006-01-31 2016-09-13 Ethicon Endo-Surgery, Llc Surgical instrument having force feedback capabilities
US11166717B2 (en) 2006-01-31 2021-11-09 Cilag Gmbh International Surgical instrument with firing lockout
US9451958B2 (en) 2006-01-31 2016-09-27 Ethicon Endo-Surgery, Llc Surgical instrument with firing actuator lockout
US10842491B2 (en) 2006-01-31 2020-11-24 Ethicon Llc Surgical system with an actuation console
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US11224454B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with tactile position feedback
US10463383B2 (en) 2006-01-31 2019-11-05 Ethicon Llc Stapling instrument including a sensing system
US10299817B2 (en) 2006-01-31 2019-05-28 Ethicon Llc Motor-driven fastening assembly
US10893853B2 (en) 2006-01-31 2021-01-19 Ethicon Llc Stapling assembly including motor drive systems
US11660110B2 (en) 2006-01-31 2023-05-30 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with tactile position feedback
US9326770B2 (en) 2006-01-31 2016-05-03 Ethicon Endo-Surgery, Llc Surgical instrument
US9517068B2 (en) 2006-01-31 2016-12-13 Ethicon Endo-Surgery, Llc Surgical instrument with automatically-returned firing member
US9861359B2 (en) 2006-01-31 2018-01-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US11364046B2 (en) 2006-01-31 2022-06-21 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with tactile position feedback
US10058963B2 (en) 2006-01-31 2018-08-28 Ethicon Llc Automated end effector component reloading system for use with a robotic system
US10463384B2 (en) 2006-01-31 2019-11-05 Ethicon Llc Stapling assembly
US11612393B2 (en) 2006-01-31 2023-03-28 Cilag Gmbh International Robotically-controlled end effector
US9370358B2 (en) 2006-01-31 2016-06-21 Ethicon Endo-Surgery, Llc Motor-driven surgical cutting and fastening instrument with tactile position feedback
US11890008B2 (en) 2006-01-31 2024-02-06 Cilag Gmbh International Surgical instrument with firing lockout
US9743928B2 (en) 2006-01-31 2017-08-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US9326769B2 (en) 2006-01-31 2016-05-03 Ethicon Endo-Surgery, Llc Surgical instrument
US11648024B2 (en) 2006-01-31 2023-05-16 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with position feedback
US10743849B2 (en) 2006-01-31 2020-08-18 Ethicon Llc Stapling system including an articulation system
US9320520B2 (en) 2006-01-31 2016-04-26 Ethicon Endo-Surgery, Inc. Surgical instrument system
US10052100B2 (en) 2006-01-31 2018-08-21 Ethicon Llc Surgical instrument system configured to detect resistive forces experienced by a tissue cutting implement
US11103269B2 (en) 2006-01-31 2021-08-31 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with tactile position feedback
US10653417B2 (en) 2006-01-31 2020-05-19 Ethicon Llc Surgical instrument
US10052099B2 (en) 2006-01-31 2018-08-21 Ethicon Llc Surgical instrument system comprising a firing system including a rotatable shaft and first and second actuation ramps
US10278722B2 (en) 2006-01-31 2019-05-07 Ethicon Llc Motor-driven surgical cutting and fastening instrument
US11648008B2 (en) 2006-01-31 2023-05-16 Cilag Gmbh International Surgical instrument having force feedback capabilities
US10918380B2 (en) 2006-01-31 2021-02-16 Ethicon Llc Surgical instrument system including a control system
US10653435B2 (en) 2006-01-31 2020-05-19 Ethicon Llc Motor-driven surgical cutting and fastening instrument with tactile position feedback
US11246616B2 (en) 2006-01-31 2022-02-15 Cilag Gmbh International Motor-driven surgical cutting and fastening instrument with tactile position feedback
US10426463B2 (en) 2006-01-31 2019-10-01 Ehticon LLC Surgical instrument having a feedback system
US10952728B2 (en) 2006-01-31 2021-03-23 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US10959722B2 (en) 2006-01-31 2021-03-30 Ethicon Llc Surgical instrument for deploying fasteners by way of rotational motion
US10675028B2 (en) 2006-01-31 2020-06-09 Ethicon Llc Powered surgical instruments with firing system lockout arrangements
US11058420B2 (en) 2006-01-31 2021-07-13 Cilag Gmbh International Surgical stapling apparatus comprising a lockout system
US10993717B2 (en) 2006-01-31 2021-05-04 Ethicon Llc Surgical stapling system comprising a control system
US11051811B2 (en) 2006-01-31 2021-07-06 Ethicon Llc End effector for use with a surgical instrument
US11000275B2 (en) 2006-01-31 2021-05-11 Ethicon Llc Surgical instrument
US11051813B2 (en) 2006-01-31 2021-07-06 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US10709468B2 (en) 2006-01-31 2020-07-14 Ethicon Llc Motor-driven surgical cutting and fastening instrument
US11020113B2 (en) 2006-01-31 2021-06-01 Cilag Gmbh International Surgical instrument having force feedback capabilities
US10004498B2 (en) 2006-01-31 2018-06-26 Ethicon Llc Surgical instrument comprising a plurality of articulation joints
US10201363B2 (en) 2006-01-31 2019-02-12 Ethicon Llc Motor-driven surgical instrument
US10010322B2 (en) 2006-01-31 2018-07-03 Ethicon Llc Surgical instrument
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US10098636B2 (en) 2006-01-31 2018-10-16 Ethicon Llc Surgical instrument having force feedback capabilities
US11628039B2 (en) 2006-02-16 2023-04-18 Globus Medical Inc. Surgical tool systems and methods
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10064688B2 (en) 2006-03-23 2018-09-04 Ethicon Llc Surgical system with selectively articulatable end effector
US10213262B2 (en) 2006-03-23 2019-02-26 Ethicon Llc Manipulatable surgical systems with selectively articulatable fastening device
US9301759B2 (en) 2006-03-23 2016-04-05 Ethicon Endo-Surgery, Llc Robotically-controlled surgical instrument with selectively articulatable end effector
US9492167B2 (en) 2006-03-23 2016-11-15 Ethicon Endo-Surgery, Llc Articulatable surgical device with rotary driven cutting member
US10070861B2 (en) 2006-03-23 2018-09-11 Ethicon Llc Articulatable surgical device
US10314589B2 (en) 2006-06-27 2019-06-11 Ethicon Llc Surgical instrument including a shifting assembly
US10420560B2 (en) 2006-06-27 2019-09-24 Ethicon Llc Manually driven surgical cutting and fastening instrument
US11272938B2 (en) 2006-06-27 2022-03-15 Cilag Gmbh International Surgical instrument including dedicated firing and retraction assemblies
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US11406379B2 (en) 2006-09-29 2022-08-09 Cilag Gmbh International Surgical end effectors with staple cartridges
US11622785B2 (en) 2006-09-29 2023-04-11 Cilag Gmbh International Surgical staples having attached drivers and stapling instruments for deploying the same
US9603595B2 (en) 2006-09-29 2017-03-28 Ethicon Endo-Surgery, Llc Surgical instrument comprising an adjustable system configured to accommodate different jaw heights
US8973804B2 (en) 2006-09-29 2015-03-10 Ethicon Endo-Surgery, Inc. Cartridge assembly having a buttressing member
US9706991B2 (en) 2006-09-29 2017-07-18 Ethicon Endo-Surgery, Inc. Staple cartridge comprising staples including a lateral base
US9408604B2 (en) 2006-09-29 2016-08-09 Ethicon Endo-Surgery, Llc Surgical instrument comprising a firing system including a compliant portion
US10695053B2 (en) 2006-09-29 2020-06-30 Ethicon Llc Surgical end effectors with staple cartridges
US11571231B2 (en) 2006-09-29 2023-02-07 Cilag Gmbh International Staple cartridge having a driver for driving multiple staples
US9179911B2 (en) 2006-09-29 2015-11-10 Ethicon Endo-Surgery, Inc. End effector for use with a surgical fastening instrument
US10130359B2 (en) 2006-09-29 2018-11-20 Ethicon Llc Method for forming a staple
US10172616B2 (en) 2006-09-29 2019-01-08 Ethicon Llc Surgical staple cartridge
US11633182B2 (en) 2006-09-29 2023-04-25 Cilag Gmbh International Surgical stapling assemblies
US11678876B2 (en) 2006-09-29 2023-06-20 Cilag Gmbh International Powered surgical instrument
US10595862B2 (en) 2006-09-29 2020-03-24 Ethicon Llc Staple cartridge including a compressible member
US10448952B2 (en) 2006-09-29 2019-10-22 Ethicon Llc End effector for use with a surgical fastening instrument
US11877748B2 (en) 2006-10-03 2024-01-23 Cilag Gmbh International Robotically-driven surgical instrument with E-beam driver
US10206678B2 (en) 2006-10-03 2019-02-19 Ethicon Llc Surgical stapling instrument with lockout features to prevent advancement of a firing assembly unless an unfired surgical staple cartridge is operably mounted in an end effector portion of the instrument
US11382626B2 (en) 2006-10-03 2022-07-12 Cilag Gmbh International Surgical system including a knife bar supported for rotational and axial travel
US10342541B2 (en) 2006-10-03 2019-07-09 Ethicon Llc Surgical instruments with E-beam driver and rotary drive arrangements
US10278780B2 (en) 2007-01-10 2019-05-07 Ethicon Llc Surgical instrument for use with robotic system
US11918211B2 (en) 2007-01-10 2024-03-05 Cilag Gmbh International Surgical stapling instrument for use with a robotic system
US9757123B2 (en) 2007-01-10 2017-09-12 Ethicon Llc Powered surgical instrument having a transmission system
US11000277B2 (en) 2007-01-10 2021-05-11 Ethicon Llc Surgical instrument with wireless communication between control unit and remote sensor
US11812961B2 (en) 2007-01-10 2023-11-14 Cilag Gmbh International Surgical instrument including a motor control system
US11350929B2 (en) 2007-01-10 2022-06-07 Cilag Gmbh International Surgical instrument with wireless communication between control unit and sensor transponders
US10751138B2 (en) 2007-01-10 2020-08-25 Ethicon Llc Surgical instrument for use with a robotic system
US11006951B2 (en) 2007-01-10 2021-05-18 Ethicon Llc Surgical instrument with wireless communication between control unit and sensor transponders
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US11844521B2 (en) 2007-01-10 2023-12-19 Cilag Gmbh International Surgical instrument for use with a robotic system
US11666332B2 (en) 2007-01-10 2023-06-06 Cilag Gmbh International Surgical instrument comprising a control circuit configured to adjust the operation of a motor
US11134943B2 (en) 2007-01-10 2021-10-05 Cilag Gmbh International Powered surgical instrument including a control unit and sensor
US11166720B2 (en) 2007-01-10 2021-11-09 Cilag Gmbh International Surgical instrument including a control module for assessing an end effector
US11771426B2 (en) 2007-01-10 2023-10-03 Cilag Gmbh International Surgical instrument with wireless communication
US10433918B2 (en) 2007-01-10 2019-10-08 Ethicon Llc Surgical instrument system configured to evaluate the load applied to a firing member at the initiation of a firing stroke
US11849947B2 (en) 2007-01-10 2023-12-26 Cilag Gmbh International Surgical system including a control circuit and a passively-powered transponder
US10918386B2 (en) 2007-01-10 2021-02-16 Ethicon Llc Interlock and surgical instrument including same
US11064998B2 (en) 2007-01-10 2021-07-20 Cilag Gmbh International Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US10517682B2 (en) 2007-01-10 2019-12-31 Ethicon Llc Surgical instrument with wireless communication between control unit and remote sensor
US10517590B2 (en) 2007-01-10 2019-12-31 Ethicon Llc Powered surgical instrument having a transmission system
US10945729B2 (en) 2007-01-10 2021-03-16 Ethicon Llc Interlock and surgical instrument including same
US10952727B2 (en) 2007-01-10 2021-03-23 Ethicon Llc Surgical instrument for assessing the state of a staple cartridge
US9675355B2 (en) 2007-01-11 2017-06-13 Ethicon Llc Surgical stapling device with a curved end effector
US11839352B2 (en) 2007-01-11 2023-12-12 Cilag Gmbh International Surgical stapling device with an end effector
US9730692B2 (en) 2007-01-11 2017-08-15 Ethicon Llc Surgical stapling device with a curved staple cartridge
US10912575B2 (en) 2007-01-11 2021-02-09 Ethicon Llc Surgical stapling device having supports for a flexible drive mechanism
US9750501B2 (en) 2007-01-11 2017-09-05 Ethicon Endo-Surgery, Llc Surgical stapling devices having laterally movable anvils
US9999431B2 (en) 2007-01-11 2018-06-19 Ethicon Endo-Surgery, Llc Surgical stapling device having supports for a flexible drive mechanism
US9775613B2 (en) 2007-01-11 2017-10-03 Ethicon Llc Surgical stapling device with a curved end effector
US9724091B2 (en) 2007-01-11 2017-08-08 Ethicon Llc Surgical stapling device
US9655624B2 (en) 2007-01-11 2017-05-23 Ethicon Llc Surgical stapling device with a curved end effector
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US9700321B2 (en) 2007-01-11 2017-07-11 Ethicon Llc Surgical stapling device having supports for a flexible drive mechanism
US9603598B2 (en) 2007-01-11 2017-03-28 Ethicon Endo-Surgery, Llc Surgical stapling device with a curved end effector
US10172678B2 (en) 2007-02-16 2019-01-08 Globus Medical, Inc. Method and system for performing invasive medical procedures using a surgical robot
US9782229B2 (en) 2007-02-16 2017-10-10 Globus Medical, Inc. Surgical robot platform
US9078685B2 (en) 2007-02-16 2015-07-14 Globus Medical, Inc. Method and system for performing invasive medical procedures using a surgical robot
US9757130B2 (en) 2007-02-28 2017-09-12 Ethicon Llc Stapling assembly for forming different formed staple heights
US10702267B2 (en) 2007-03-15 2020-07-07 Ethicon Llc Surgical stapling instrument having a releasable buttress material
US9872682B2 (en) 2007-03-15 2018-01-23 Ethicon Llc Surgical stapling instrument having a releasable buttress material
US9289206B2 (en) 2007-03-15 2016-03-22 Ethicon Endo-Surgery, Llc Lateral securement members for surgical staple cartridges
US11337693B2 (en) 2007-03-15 2022-05-24 Cilag Gmbh International Surgical stapling instrument having a releasable buttress material
US10722261B2 (en) 2007-03-22 2020-07-28 Ethicon Llc Surgical instruments
US10828057B2 (en) 2007-03-22 2020-11-10 Ethicon Llc Ultrasonic surgical instruments
US10398433B2 (en) 2007-03-28 2019-09-03 Ethicon Llc Laparoscopic clamp load measuring devices
US9186143B2 (en) 2007-06-04 2015-11-17 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US10327765B2 (en) 2007-06-04 2019-06-25 Ethicon Llc Drive systems for surgical instruments
US11134938B2 (en) 2007-06-04 2021-10-05 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
US11147549B2 (en) 2007-06-04 2021-10-19 Cilag Gmbh International Stapling instrument including a firing system and a closure system
US9795381B2 (en) 2007-06-04 2017-10-24 Ethicon Endo-Surgery, Llc Robotically-controlled shaft based rotary drive systems for surgical instruments
US10368863B2 (en) 2007-06-04 2019-08-06 Ethicon Llc Robotically-controlled shaft based rotary drive systems for surgical instruments
US10299787B2 (en) 2007-06-04 2019-05-28 Ethicon Llc Stapling system comprising rotary inputs
US11857181B2 (en) 2007-06-04 2024-01-02 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US11672531B2 (en) 2007-06-04 2023-06-13 Cilag Gmbh International Rotary drive systems for surgical instruments
US11154298B2 (en) 2007-06-04 2021-10-26 Cilag Gmbh International Stapling system for use with a robotic surgical system
US11559302B2 (en) 2007-06-04 2023-01-24 Cilag Gmbh International Surgical instrument including a firing member movable at different speeds
US9585658B2 (en) 2007-06-04 2017-03-07 Ethicon Endo-Surgery, Llc Stapling systems
US9987003B2 (en) 2007-06-04 2018-06-05 Ethicon Llc Robotic actuator assembly
US11911028B2 (en) 2007-06-04 2024-02-27 Cilag Gmbh International Surgical instruments for use with a robotic surgical system
US10441280B2 (en) 2007-06-04 2019-10-15 Ethicon Llc Robotically-controlled shaft based rotary drive systems for surgical instruments
US9750498B2 (en) 2007-06-04 2017-09-05 Ethicon Endo Surgery, Llc Drive systems for surgical instruments
US11648006B2 (en) 2007-06-04 2023-05-16 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
US11564682B2 (en) 2007-06-04 2023-01-31 Cilag Gmbh International Surgical stapler device
US10363033B2 (en) 2007-06-04 2019-07-30 Ethicon Llc Robotically-controlled surgical instruments
US11013511B2 (en) 2007-06-22 2021-05-25 Ethicon Llc Surgical stapling instrument with an articulatable end effector
US9662110B2 (en) 2007-06-22 2017-05-30 Ethicon Endo-Surgery, Llc Surgical stapling instrument with an articulatable end effector
US9138225B2 (en) 2007-06-22 2015-09-22 Ethicon Endo-Surgery, Inc. Surgical stapling instrument with an articulatable end effector
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US11925346B2 (en) 2007-06-29 2024-03-12 Cilag Gmbh International Surgical staple cartridge including tissue supporting surfaces
US10398466B2 (en) 2007-07-27 2019-09-03 Ethicon Llc Ultrasonic end effectors with increased active length
US10531910B2 (en) 2007-07-27 2020-01-14 Ethicon Llc Surgical instruments
US11607268B2 (en) 2007-07-27 2023-03-21 Cilag Gmbh International Surgical instruments
US11690641B2 (en) 2007-07-27 2023-07-04 Cilag Gmbh International Ultrasonic end effectors with increased active length
US11666784B2 (en) 2007-07-31 2023-06-06 Cilag Gmbh International Surgical instruments
US10420579B2 (en) 2007-07-31 2019-09-24 Ethicon Llc Surgical instruments
US11058447B2 (en) 2007-07-31 2021-07-13 Cilag Gmbh International Temperature controlled ultrasonic surgical instruments
US11877734B2 (en) 2007-07-31 2024-01-23 Cilag Gmbh International Ultrasonic surgical instruments
US10426507B2 (en) 2007-07-31 2019-10-01 Ethicon Llc Ultrasonic surgical instruments
US9655617B2 (en) 2007-08-31 2017-05-23 Covidien Lp Surgical instrument
US10456135B2 (en) 2007-08-31 2019-10-29 Covidien Lp Surgical instrument
US10828059B2 (en) 2007-10-05 2020-11-10 Ethicon Llc Ergonomic surgical instruments
US10245065B2 (en) 2007-11-30 2019-04-02 Ethicon Llc Ultrasonic surgical blades
US11266433B2 (en) 2007-11-30 2022-03-08 Cilag Gmbh International Ultrasonic surgical instrument blades
US10265094B2 (en) 2007-11-30 2019-04-23 Ethicon Llc Ultrasonic surgical blades
US11690643B2 (en) 2007-11-30 2023-07-04 Cilag Gmbh International Ultrasonic surgical blades
US10433866B2 (en) 2007-11-30 2019-10-08 Ethicon Llc Ultrasonic surgical blades
US11766276B2 (en) 2007-11-30 2023-09-26 Cilag Gmbh International Ultrasonic surgical blades
US10433865B2 (en) 2007-11-30 2019-10-08 Ethicon Llc Ultrasonic surgical blades
US10441308B2 (en) 2007-11-30 2019-10-15 Ethicon Llc Ultrasonic surgical instrument blades
US11253288B2 (en) 2007-11-30 2022-02-22 Cilag Gmbh International Ultrasonic surgical instrument blades
US10463887B2 (en) 2007-11-30 2019-11-05 Ethicon Llc Ultrasonic surgical blades
US11439426B2 (en) 2007-11-30 2022-09-13 Cilag Gmbh International Ultrasonic surgical blades
US10888347B2 (en) 2007-11-30 2021-01-12 Ethicon Llc Ultrasonic surgical blades
US11650111B2 (en) 2007-12-18 2023-05-16 Intuitive Surgical Operations, Inc. Ribbed force sensor
US11571264B2 (en) 2007-12-18 2023-02-07 Intuitive Surgical Operations, Inc. Force sensor temperature compensation
US9687231B2 (en) 2008-02-13 2017-06-27 Ethicon Llc Surgical stapling instrument
US10765424B2 (en) 2008-02-13 2020-09-08 Ethicon Llc Surgical stapling instrument
US10898194B2 (en) 2008-02-14 2021-01-26 Ethicon Llc Detachable motor powered surgical instrument
US10660640B2 (en) 2008-02-14 2020-05-26 Ethicon Llc Motorized surgical cutting and fastening instrument
US10716568B2 (en) 2008-02-14 2020-07-21 Ethicon Llc Surgical stapling apparatus with control features operable with one hand
US10898195B2 (en) 2008-02-14 2021-01-26 Ethicon Llc Detachable motor powered surgical instrument
US11464514B2 (en) 2008-02-14 2022-10-11 Cilag Gmbh International Motorized surgical stapling system including a sensing array
US9999426B2 (en) 2008-02-14 2018-06-19 Ethicon Llc Detachable motor powered surgical instrument
US10238385B2 (en) 2008-02-14 2019-03-26 Ethicon Llc Surgical instrument system for evaluating tissue impedance
US9204878B2 (en) 2008-02-14 2015-12-08 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US10888330B2 (en) 2008-02-14 2021-01-12 Ethicon Llc Surgical system
US10004505B2 (en) 2008-02-14 2018-06-26 Ethicon Llc Detachable motor powered surgical instrument
US10206676B2 (en) 2008-02-14 2019-02-19 Ethicon Llc Surgical cutting and fastening instrument
US10888329B2 (en) 2008-02-14 2021-01-12 Ethicon Llc Detachable motor powered surgical instrument
US9872684B2 (en) 2008-02-14 2018-01-23 Ethicon Llc Surgical stapling apparatus including firing force regulation
US9980729B2 (en) 2008-02-14 2018-05-29 Ethicon Endo-Surgery, Llc Detachable motor powered surgical instrument
US10238387B2 (en) 2008-02-14 2019-03-26 Ethicon Llc Surgical instrument comprising a control system
US11638583B2 (en) 2008-02-14 2023-05-02 Cilag Gmbh International Motorized surgical system having a plurality of power sources
US9877723B2 (en) 2008-02-14 2018-01-30 Ethicon Llc Surgical stapling assembly comprising a selector arrangement
US10307163B2 (en) 2008-02-14 2019-06-04 Ethicon Llc Detachable motor powered surgical instrument
US10682141B2 (en) 2008-02-14 2020-06-16 Ethicon Llc Surgical device including a control system
US10682142B2 (en) 2008-02-14 2020-06-16 Ethicon Llc Surgical stapling apparatus including an articulation system
US9901345B2 (en) 2008-02-14 2018-02-27 Ethicon Llc Stapling assembly
US11484307B2 (en) 2008-02-14 2022-11-01 Cilag Gmbh International Loading unit coupleable to a surgical stapling system
US9962158B2 (en) 2008-02-14 2018-05-08 Ethicon Llc Surgical stapling apparatuses with lockable end effector positioning systems
US10806450B2 (en) 2008-02-14 2020-10-20 Ethicon Llc Surgical cutting and fastening instrument having a control system
US10905426B2 (en) 2008-02-14 2021-02-02 Ethicon Llc Detachable motor powered surgical instrument
US10874396B2 (en) 2008-02-14 2020-12-29 Ethicon Llc Stapling instrument for use with a surgical robot
US10722232B2 (en) 2008-02-14 2020-07-28 Ethicon Llc Surgical instrument for use with different cartridges
US9867618B2 (en) 2008-02-14 2018-01-16 Ethicon Llc Surgical stapling apparatus including firing force regulation
US11717285B2 (en) 2008-02-14 2023-08-08 Cilag Gmbh International Surgical cutting and fastening instrument having RF electrodes
US10265067B2 (en) 2008-02-14 2019-04-23 Ethicon Llc Surgical instrument including a regulator and a control system
US10925605B2 (en) 2008-02-14 2021-02-23 Ethicon Llc Surgical stapling system
US10639036B2 (en) 2008-02-14 2020-05-05 Ethicon Llc Robotically-controlled motorized surgical cutting and fastening instrument
US10765432B2 (en) 2008-02-14 2020-09-08 Ethicon Llc Surgical device including a control system
US9072515B2 (en) 2008-02-14 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus
US10779822B2 (en) 2008-02-14 2020-09-22 Ethicon Llc System including a surgical cutting and fastening instrument
US10905427B2 (en) 2008-02-14 2021-02-02 Ethicon Llc Surgical System
US10542974B2 (en) 2008-02-14 2020-01-28 Ethicon Llc Surgical instrument including a control system
US10743851B2 (en) 2008-02-14 2020-08-18 Ethicon Llc Interchangeable tools for surgical instruments
US9522029B2 (en) 2008-02-14 2016-12-20 Ethicon Endo-Surgery, Llc Motorized surgical cutting and fastening instrument having handle based power source
US9211121B2 (en) 2008-02-14 2015-12-15 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus
US11446034B2 (en) 2008-02-14 2022-09-20 Cilag Gmbh International Surgical stapling assembly comprising first and second actuation systems configured to perform different functions
US11571212B2 (en) 2008-02-14 2023-02-07 Cilag Gmbh International Surgical stapling system including an impedance sensor
US10463370B2 (en) 2008-02-14 2019-11-05 Ethicon Llc Motorized surgical instrument
US10743870B2 (en) 2008-02-14 2020-08-18 Ethicon Llc Surgical stapling apparatus with interlockable firing system
US8998058B2 (en) 2008-02-14 2015-04-07 Ethicon Endo-Surgery, Inc. Detachable motor powered surgical instrument
US9498219B2 (en) 2008-02-14 2016-11-22 Ethicon Endo-Surgery, Llc Detachable motor powered surgical instrument
US10470763B2 (en) 2008-02-14 2019-11-12 Ethicon Llc Surgical cutting and fastening instrument including a sensing system
US11612395B2 (en) 2008-02-14 2023-03-28 Cilag Gmbh International Surgical system including a control system having an RFID tag reader
US9901344B2 (en) 2008-02-14 2018-02-27 Ethicon Llc Stapling assembly
US8991677B2 (en) 2008-02-14 2015-03-31 Ethicon Endo-Surgery, Inc. Detachable motor powered surgical instrument
US11801047B2 (en) 2008-02-14 2023-10-31 Cilag Gmbh International Surgical stapling system comprising a control circuit configured to selectively monitor tissue impedance and adjust control of a motor
US9084601B2 (en) 2008-02-14 2015-07-21 Ethicon Endo-Surgery, Inc. Detachable motor powered surgical instrument
US9901346B2 (en) 2008-02-14 2018-02-27 Ethicon Llc Stapling assembly
US9095339B2 (en) 2008-02-14 2015-08-04 Ethicon Endo-Surgery, Inc. Detachable motor powered surgical instrument
US10835250B2 (en) 2008-02-15 2020-11-17 Ethicon Llc End effector coupling arrangements for a surgical cutting and stapling instrument
US10058327B2 (en) 2008-02-15 2018-08-28 Ethicon Llc End effector coupling arrangements for a surgical cutting and stapling instrument
US11154297B2 (en) 2008-02-15 2021-10-26 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US9839429B2 (en) 2008-02-15 2017-12-12 Ethicon Endo-Surgery, Llc Stapling system comprising a lockout
US11272927B2 (en) 2008-02-15 2022-03-15 Cilag Gmbh International Layer arrangements for surgical staple cartridges
US11058418B2 (en) 2008-02-15 2021-07-13 Cilag Gmbh International Surgical end effector having buttress retention features
US9913647B2 (en) 2008-02-15 2018-03-13 Ethicon Llc Disposable loading unit for use with a surgical instrument
US10856866B2 (en) 2008-02-15 2020-12-08 Ethicon Llc Surgical end effector having buttress retention features
US11357566B2 (en) 2008-07-16 2022-06-14 Intuitive Surgical Operations, Inc. Medical instrument electrically energized using drive cables
US11272977B2 (en) 2008-07-16 2022-03-15 Intuitive Surgical Operations, Inc. Medical instrument electrically energized using drive cables
US11666374B2 (en) 2008-07-16 2023-06-06 Intuitive Surgical Operations, Inc. Medical instrument with jaw with friction-coupled drive cable
US10335614B2 (en) 2008-08-06 2019-07-02 Ethicon Llc Devices and techniques for cutting and coagulating tissue
US11890491B2 (en) 2008-08-06 2024-02-06 Cilag Gmbh International Devices and techniques for cutting and coagulating tissue
US10258336B2 (en) 2008-09-19 2019-04-16 Ethicon Llc Stapling system configured to produce different formed staple heights
US11123071B2 (en) 2008-09-19 2021-09-21 Cilag Gmbh International Staple cartridge for us with a surgical instrument
US9289210B2 (en) 2008-09-19 2016-03-22 Ethicon Endo-Surgery, Llc Surgical stapler with apparatus for adjusting staple height
US10765425B2 (en) 2008-09-23 2020-09-08 Ethicon Llc Robotically-controlled motorized surgical instrument with an end effector
US11406380B2 (en) 2008-09-23 2022-08-09 Cilag Gmbh International Motorized surgical instrument
US11617575B2 (en) 2008-09-23 2023-04-04 Cilag Gmbh International Motor-driven surgical cutting instrument
US10238389B2 (en) 2008-09-23 2019-03-26 Ethicon Llc Robotically-controlled motorized surgical instrument with an end effector
US10980535B2 (en) 2008-09-23 2021-04-20 Ethicon Llc Motorized surgical instrument with an end effector
US10105136B2 (en) 2008-09-23 2018-10-23 Ethicon Llc Robotically-controlled motorized surgical instrument with an end effector
US11045189B2 (en) 2008-09-23 2021-06-29 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US11812954B2 (en) 2008-09-23 2023-11-14 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US11517304B2 (en) 2008-09-23 2022-12-06 Cilag Gmbh International Motor-driven surgical cutting instrument
US10485537B2 (en) 2008-09-23 2019-11-26 Ethicon Llc Motorized surgical instrument
US10898184B2 (en) 2008-09-23 2021-01-26 Ethicon Llc Motor-driven surgical cutting instrument
US10045778B2 (en) 2008-09-23 2018-08-14 Ethicon Llc Robotically-controlled motorized surgical instrument with an end effector
US10420549B2 (en) 2008-09-23 2019-09-24 Ethicon Llc Motorized surgical instrument
US11871923B2 (en) 2008-09-23 2024-01-16 Cilag Gmbh International Motorized surgical instrument
US11103241B2 (en) 2008-09-23 2021-08-31 Cilag Gmbh International Motor-driven surgical cutting instrument
US9655614B2 (en) 2008-09-23 2017-05-23 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument with an end effector
US11617576B2 (en) 2008-09-23 2023-04-04 Cilag Gmbh International Motor-driven surgical cutting instrument
US11684361B2 (en) 2008-09-23 2023-06-27 Cilag Gmbh International Motor-driven surgical cutting instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US10736628B2 (en) 2008-09-23 2020-08-11 Ethicon Llc Motor-driven surgical cutting instrument
US10456133B2 (en) 2008-09-23 2019-10-29 Ethicon Llc Motorized surgical instrument
US10130361B2 (en) 2008-09-23 2018-11-20 Ethicon Llc Robotically-controller motorized surgical tool with an end effector
US10478163B2 (en) 2008-09-30 2019-11-19 Intuitive Surgical Operations, Inc. Medical instrument engagement process
US11744563B2 (en) 2008-09-30 2023-09-05 Intuitive Surgical Operations, Inc. Medical instrument engagement process
US10772690B2 (en) 2008-09-30 2020-09-15 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US11547503B2 (en) 2008-09-30 2023-01-10 Intuitive Surgical Operations, Inc. Passive preload and capstan drive for surgical instruments
US11730477B2 (en) 2008-10-10 2023-08-22 Cilag Gmbh International Powered surgical system with manually retractable firing system
US11583279B2 (en) 2008-10-10 2023-02-21 Cilag Gmbh International Powered surgical cutting and stapling apparatus with manually retractable firing system
US10149683B2 (en) 2008-10-10 2018-12-11 Ethicon Llc Powered surgical cutting and stapling apparatus with manually retractable firing system
US11793521B2 (en) 2008-10-10 2023-10-24 Cilag Gmbh International Powered surgical cutting and stapling apparatus with manually retractable firing system
US9370364B2 (en) 2008-10-10 2016-06-21 Ethicon Endo-Surgery, Llc Powered surgical cutting and stapling apparatus with manually retractable firing system
US10932778B2 (en) 2008-10-10 2021-03-02 Ethicon Llc Powered surgical cutting and stapling apparatus with manually retractable firing system
US10758233B2 (en) 2009-02-05 2020-09-01 Ethicon Llc Articulatable surgical instrument comprising a firing drive
US11129615B2 (en) 2009-02-05 2021-09-28 Cilag Gmbh International Surgical stapling system
US9393015B2 (en) 2009-02-06 2016-07-19 Ethicon Endo-Surgery, Llc Motor driven surgical fastener device with cutting member reversing mechanism
US9486214B2 (en) 2009-02-06 2016-11-08 Ethicon Endo-Surgery, Llc Motor driven surgical fastener device with switching system configured to prevent firing initiation until activated
US10420550B2 (en) 2009-02-06 2019-09-24 Ethicon Llc Motor driven surgical fastener device with switching system configured to prevent firing initiation until activated
US11497580B2 (en) 2009-05-19 2022-11-15 Intuitive Surgical Operations, Inc. Cleaning of a surgical instrument force sensor
US10709906B2 (en) 2009-05-20 2020-07-14 Ethicon Llc Coupling arrangements and methods for attaching tools to ultrasonic surgical instruments
US11717706B2 (en) 2009-07-15 2023-08-08 Cilag Gmbh International Ultrasonic surgical instruments
US10688321B2 (en) 2009-07-15 2020-06-23 Ethicon Llc Ultrasonic surgical instruments
US10201382B2 (en) 2009-10-09 2019-02-12 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
US11871982B2 (en) 2009-10-09 2024-01-16 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US10265117B2 (en) 2009-10-09 2019-04-23 Ethicon Llc Surgical generator method for controlling and ultrasonic transducer waveform for ultrasonic and electrosurgical devices
US11090104B2 (en) 2009-10-09 2021-08-17 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US10172669B2 (en) 2009-10-09 2019-01-08 Ethicon Llc Surgical instrument comprising an energy trigger lockout
US9307987B2 (en) 2009-12-24 2016-04-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument that analyzes tissue thickness
US11291449B2 (en) 2009-12-24 2022-04-05 Cilag Gmbh International Surgical cutting instrument that analyzes tissue thickness
US10751076B2 (en) 2009-12-24 2020-08-25 Ethicon Llc Motor-driven surgical cutting instrument with electric actuator directional control assembly
US9585660B2 (en) 2010-01-07 2017-03-07 Ethicon Endo-Surgery, Llc Method for testing a surgical tool
US11241246B2 (en) 2010-02-08 2022-02-08 Intuitive Surgical Operations, Inc. Direct pull surgical gripper
US10299810B2 (en) 2010-02-11 2019-05-28 Ethicon Llc Rotatable cutting implements with friction reducing material for ultrasonic surgical instruments
US11369402B2 (en) 2010-02-11 2022-06-28 Cilag Gmbh International Control systems for ultrasonically powered surgical instruments
US11382642B2 (en) 2010-02-11 2022-07-12 Cilag Gmbh International Rotatable cutting implements with friction reducing material for ultrasonic surgical instruments
US10835768B2 (en) 2010-02-11 2020-11-17 Ethicon Llc Dual purpose surgical instrument for cutting and coagulating tissue
US10117667B2 (en) 2010-02-11 2018-11-06 Ethicon Llc Control systems for ultrasonically powered surgical instruments
US11090103B2 (en) 2010-05-21 2021-08-17 Cilag Gmbh International Medical device
US10278721B2 (en) 2010-07-22 2019-05-07 Ethicon Llc Electrosurgical instrument with separate closure and cutting members
US10524854B2 (en) 2010-07-23 2020-01-07 Ethicon Llc Surgical instrument
US9597075B2 (en) 2010-07-30 2017-03-21 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US11478247B2 (en) 2010-07-30 2022-10-25 Cilag Gmbh International Tissue acquisition arrangements and methods for surgical stapling devices
US10470770B2 (en) 2010-07-30 2019-11-12 Ethicon Llc Circular surgical fastening devices with tissue acquisition arrangements
US10675035B2 (en) 2010-09-09 2020-06-09 Ethicon Llc Surgical stapling head assembly with firing lockout for a surgical stapler
US9232945B2 (en) 2010-09-09 2016-01-12 Ethicon Endo-Surgery, Inc. Surgical stapling head assembly with firing lockout for a surgical stapler
US10492787B2 (en) 2010-09-17 2019-12-03 Ethicon Llc Orientable battery for a surgical instrument
US10039529B2 (en) 2010-09-17 2018-08-07 Ethicon Llc Power control arrangements for surgical instruments and batteries
US10595835B2 (en) 2010-09-17 2020-03-24 Ethicon Llc Surgical instrument comprising a removable battery
US9289212B2 (en) 2010-09-17 2016-03-22 Ethicon Endo-Surgery, Inc. Surgical instruments and batteries for surgical instruments
US11471138B2 (en) 2010-09-17 2022-10-18 Cilag Gmbh International Power control arrangements for surgical instruments and batteries
US10188393B2 (en) 2010-09-17 2019-01-29 Ethicon Llc Surgical instrument battery comprising a plurality of cells
US11571213B2 (en) 2010-09-29 2023-02-07 Cilag Gmbh International Staple cartridge
US10130363B2 (en) 2010-09-29 2018-11-20 Ethicon Llc Staple cartridge
US10898191B2 (en) 2010-09-29 2021-01-26 Ethicon Llc Fastener cartridge
US9844372B2 (en) 2010-09-30 2017-12-19 Ethicon Llc Retainer assembly including a tissue thickness compensator
US9615826B2 (en) 2010-09-30 2017-04-11 Ethicon Endo-Surgery, Llc Multiple thickness implantable layers for surgical stapling devices
US11857187B2 (en) 2010-09-30 2024-01-02 Cilag Gmbh International Tissue thickness compensator comprising controlled release and expansion
US11602340B2 (en) 2010-09-30 2023-03-14 Cilag Gmbh International Adhesive film laminate
US9386988B2 (en) 2010-09-30 2016-07-12 Ethicon End-Surgery, LLC Retainer assembly including a tissue thickness compensator
US10485536B2 (en) 2010-09-30 2019-11-26 Ethicon Llc Tissue stapler having an anti-microbial agent
US9826978B2 (en) 2010-09-30 2017-11-28 Ethicon Llc End effectors with same side closure and firing motions
US9301753B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Expandable tissue thickness compensator
US9833238B2 (en) 2010-09-30 2017-12-05 Ethicon Endo-Surgery, Llc Retainer assembly including a tissue thickness compensator
US10213198B2 (en) 2010-09-30 2019-02-26 Ethicon Llc Actuator for releasing a tissue thickness compensator from a fastener cartridge
US10835251B2 (en) 2010-09-30 2020-11-17 Ethicon Llc Surgical instrument assembly including an end effector configurable in different positions
US9232941B2 (en) 2010-09-30 2016-01-12 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a reservoir
US9433419B2 (en) 2010-09-30 2016-09-06 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of layers
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US9480476B2 (en) 2010-09-30 2016-11-01 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising resilient members
US10463372B2 (en) 2010-09-30 2019-11-05 Ethicon Llc Staple cartridge comprising multiple regions
US10123798B2 (en) 2010-09-30 2018-11-13 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US11540824B2 (en) 2010-09-30 2023-01-03 Cilag Gmbh International Tissue thickness compensator
US10335150B2 (en) 2010-09-30 2019-07-02 Ethicon Llc Staple cartridge comprising an implantable layer
US11883025B2 (en) 2010-09-30 2024-01-30 Cilag Gmbh International Tissue thickness compensator comprising a plurality of layers
US10548600B2 (en) 2010-09-30 2020-02-04 Ethicon Llc Multiple thickness implantable layers for surgical stapling devices
US9301752B2 (en) 2010-09-30 2016-04-05 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising a plurality of capsules
US9314246B2 (en) 2010-09-30 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-inflammatory agent
US11911027B2 (en) 2010-09-30 2024-02-27 Cilag Gmbh International Adhesive film laminate
US10987102B2 (en) 2010-09-30 2021-04-27 Ethicon Llc Tissue thickness compensator comprising a plurality of layers
US9566061B2 (en) 2010-09-30 2017-02-14 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a releasably attached tissue thickness compensator
US9814462B2 (en) 2010-09-30 2017-11-14 Ethicon Llc Assembly for fastening tissue comprising a compressible layer
US11737754B2 (en) 2010-09-30 2023-08-29 Cilag Gmbh International Surgical stapler with floating anvil
US11850310B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge including an adjunct
US10588623B2 (en) 2010-09-30 2020-03-17 Ethicon Llc Adhesive film laminate
US11571215B2 (en) 2010-09-30 2023-02-07 Cilag Gmbh International Layer of material for a surgical end effector
US9220500B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising structure to produce a resilient load
US9364233B2 (en) 2010-09-30 2016-06-14 Ethicon Endo-Surgery, Llc Tissue thickness compensators for circular surgical staplers
US9808247B2 (en) 2010-09-30 2017-11-07 Ethicon Llc Stapling system comprising implantable layers
US9572574B2 (en) 2010-09-30 2017-02-21 Ethicon Endo-Surgery, Llc Tissue thickness compensators comprising therapeutic agents
US10194910B2 (en) 2010-09-30 2019-02-05 Ethicon Llc Stapling assemblies comprising a layer
US10258330B2 (en) 2010-09-30 2019-04-16 Ethicon Llc End effector including an implantable arrangement
US10258332B2 (en) 2010-09-30 2019-04-16 Ethicon Llc Stapling system comprising an adjunct and a flowable adhesive
US9320518B2 (en) 2010-09-30 2016-04-26 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an oxygen generating agent
US9833236B2 (en) 2010-09-30 2017-12-05 Ethicon Llc Tissue thickness compensator for surgical staplers
US10624861B2 (en) 2010-09-30 2020-04-21 Ethicon Llc Tissue thickness compensator configured to redistribute compressive forces
US9833242B2 (en) 2010-09-30 2017-12-05 Ethicon Endo-Surgery, Llc Tissue thickness compensators
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US10028743B2 (en) 2010-09-30 2018-07-24 Ethicon Llc Staple cartridge assembly comprising an implantable layer
US9592050B2 (en) 2010-09-30 2017-03-14 Ethicon Endo-Surgery, Llc End effector comprising a distal tissue abutment member
US9592053B2 (en) 2010-09-30 2017-03-14 Ethicon Endo-Surgery, Llc Staple cartridge comprising multiple regions
US10265074B2 (en) 2010-09-30 2019-04-23 Ethicon Llc Implantable layers for surgical stapling devices
US9924947B2 (en) 2010-09-30 2018-03-27 Ethicon Llc Staple cartridge comprising a compressible portion
US10265072B2 (en) 2010-09-30 2019-04-23 Ethicon Llc Surgical stapling system comprising an end effector including an implantable layer
US9220501B2 (en) 2010-09-30 2015-12-29 Ethicon Endo-Surgery, Inc. Tissue thickness compensators
US10182819B2 (en) 2010-09-30 2019-01-22 Ethicon Llc Implantable layer assemblies
US11559496B2 (en) 2010-09-30 2023-01-24 Cilag Gmbh International Tissue thickness compensator configured to redistribute compressive forces
US11684360B2 (en) 2010-09-30 2023-06-27 Cilag Gmbh International Staple cartridge comprising a variable thickness compressible portion
US9801634B2 (en) 2010-09-30 2017-10-31 Ethicon Llc Tissue thickness compensator for a surgical stapler
US9307965B2 (en) 2010-09-30 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating an anti-microbial agent
US9358005B2 (en) 2010-09-30 2016-06-07 Ethicon Endo-Surgery, Llc End effector layer including holding features
US10335148B2 (en) 2010-09-30 2019-07-02 Ethicon Llc Staple cartridge including a tissue thickness compensator for a surgical stapler
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US9795383B2 (en) 2010-09-30 2017-10-24 Ethicon Llc Tissue thickness compensator comprising resilient members
US11154296B2 (en) 2010-09-30 2021-10-26 Cilag Gmbh International Anvil layer attached to a proximal end of an end effector
US11672536B2 (en) 2010-09-30 2023-06-13 Cilag Gmbh International Layer of material for a surgical end effector
US10064624B2 (en) 2010-09-30 2018-09-04 Ethicon Llc End effector with implantable layer
US10405854B2 (en) 2010-09-30 2019-09-10 Ethicon Llc Surgical stapling cartridge with layer retention features
US10398436B2 (en) 2010-09-30 2019-09-03 Ethicon Llc Staple cartridge comprising staples positioned within a compressible portion thereof
US9883861B2 (en) 2010-09-30 2018-02-06 Ethicon Llc Retainer assembly including a tissue thickness compensator
US9788834B2 (en) 2010-09-30 2017-10-17 Ethicon Llc Layer comprising deployable attachment members
US9282962B2 (en) 2010-09-30 2016-03-15 Ethicon Endo-Surgery, Llc Adhesive film laminate
US11849952B2 (en) 2010-09-30 2023-12-26 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US9839420B2 (en) 2010-09-30 2017-12-12 Ethicon Llc Tissue thickness compensator comprising at least one medicament
US11083452B2 (en) 2010-09-30 2021-08-10 Cilag Gmbh International Staple cartridge including a tissue thickness compensator
US10898193B2 (en) 2010-09-30 2021-01-26 Ethicon Llc End effector for use with a surgical instrument
US9277919B2 (en) 2010-09-30 2016-03-08 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising fibers to produce a resilient load
US9700317B2 (en) 2010-09-30 2017-07-11 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a releasable tissue thickness compensator
US9861361B2 (en) 2010-09-30 2018-01-09 Ethicon Llc Releasable tissue thickness compensator and fastener cartridge having the same
US9848875B2 (en) 2010-09-30 2017-12-26 Ethicon Llc Anvil layer attached to a proximal end of an end effector
US11406377B2 (en) 2010-09-30 2022-08-09 Cilag Gmbh International Adhesive film laminate
US11395651B2 (en) 2010-09-30 2022-07-26 Cilag Gmbh International Adhesive film laminate
US11583277B2 (en) 2010-09-30 2023-02-21 Cilag Gmbh International Layer of material for a surgical end effector
US10869669B2 (en) 2010-09-30 2020-12-22 Ethicon Llc Surgical instrument assembly
US10743877B2 (en) 2010-09-30 2020-08-18 Ethicon Llc Surgical stapler with floating anvil
US10888328B2 (en) 2010-09-30 2021-01-12 Ethicon Llc Surgical end effector
US9272406B2 (en) 2010-09-30 2016-03-01 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a cutting member for releasing a tissue thickness compensator
US9345477B2 (en) 2010-09-30 2016-05-24 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator comprising incorporating a hemostatic agent
US9332974B2 (en) 2010-09-30 2016-05-10 Ethicon Endo-Surgery, Llc Layered tissue thickness compensator
US10363031B2 (en) 2010-09-30 2019-07-30 Ethicon Llc Tissue thickness compensators for surgical staplers
US10149682B2 (en) 2010-09-30 2018-12-11 Ethicon Llc Stapling system including an actuation system
US10695062B2 (en) 2010-10-01 2020-06-30 Ethicon Llc Surgical instrument including a retractable firing member
US11529142B2 (en) 2010-10-01 2022-12-20 Cilag Gmbh International Surgical instrument having a power control circuit
US9687236B2 (en) 2010-10-01 2017-06-27 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
US10588612B2 (en) 2011-03-14 2020-03-17 Ethicon Llc Collapsible anvil plate assemblies for circular surgical stapling devices
US11864747B2 (en) 2011-03-14 2024-01-09 Cilag Gmbh International Anvil assemblies for circular staplers
US10898177B2 (en) 2011-03-14 2021-01-26 Ethicon Llc Collapsible anvil plate assemblies for circular surgical stapling devices
US10045769B2 (en) 2011-03-14 2018-08-14 Ethicon Llc Circular surgical staplers with foldable anvil assemblies
US9974529B2 (en) 2011-03-14 2018-05-22 Ethicon Llc Surgical instrument
US10751040B2 (en) 2011-03-14 2020-08-25 Ethicon Llc Anvil assemblies with collapsible frames for circular staplers
US10987094B2 (en) 2011-03-14 2021-04-27 Ethicon Llc Surgical bowel retractor devices
US11478238B2 (en) 2011-03-14 2022-10-25 Cilag Gmbh International Anvil assemblies with collapsible frames for circular staplers
US9918704B2 (en) 2011-03-14 2018-03-20 Ethicon Llc Surgical instrument
US9980713B2 (en) 2011-03-14 2018-05-29 Ethicon Llc Anvil assemblies with collapsible frames for circular staplers
US10130352B2 (en) 2011-03-14 2018-11-20 Ethicon Llc Surgical bowel retractor devices
US11202681B2 (en) 2011-04-01 2021-12-21 Globus Medical, Inc. Robotic system and method for spinal and other surgeries
US10660712B2 (en) 2011-04-01 2020-05-26 Globus Medical Inc. Robotic system and method for spinal and other surgeries
US11744648B2 (en) 2011-04-01 2023-09-05 Globus Medicall, Inc. Robotic system and method for spinal and other surgeries
US9241714B2 (en) 2011-04-29 2016-01-26 Ethicon Endo-Surgery, Inc. Tissue thickness compensator and method for making the same
US9351730B2 (en) 2011-04-29 2016-05-31 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising channels
US10117652B2 (en) 2011-04-29 2018-11-06 Ethicon Llc End effector comprising a tissue thickness compensator and progressively released attachment members
US9211120B2 (en) 2011-04-29 2015-12-15 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising a plurality of medicaments
US11504116B2 (en) 2011-04-29 2022-11-22 Cilag Gmbh International Layer of material for a surgical end effector
US10426478B2 (en) 2011-05-27 2019-10-01 Ethicon Llc Surgical stapling systems
US10980534B2 (en) 2011-05-27 2021-04-20 Ethicon Llc Robotically-controlled motorized surgical instrument with an end effector
US10617420B2 (en) 2011-05-27 2020-04-14 Ethicon Llc Surgical system comprising drive systems
US10420561B2 (en) 2011-05-27 2019-09-24 Ethicon Llc Robotically-driven surgical instrument
US11129616B2 (en) 2011-05-27 2021-09-28 Cilag Gmbh International Surgical stapling system
US10130366B2 (en) 2011-05-27 2018-11-20 Ethicon Llc Automated reloading devices for replacing used end effectors on robotic surgical systems
US10231794B2 (en) 2011-05-27 2019-03-19 Ethicon Llc Surgical stapling instruments with rotatable staple deployment arrangements
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US10335151B2 (en) 2011-05-27 2019-07-02 Ethicon Llc Robotically-driven surgical instrument
US11918208B2 (en) 2011-05-27 2024-03-05 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
US11583278B2 (en) 2011-05-27 2023-02-21 Cilag Gmbh International Surgical stapling system having multi-direction articulation
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US10813641B2 (en) 2011-05-27 2020-10-27 Ethicon Llc Robotically-driven surgical instrument
US9913648B2 (en) 2011-05-27 2018-03-13 Ethicon Endo-Surgery, Llc Surgical system
US11266410B2 (en) 2011-05-27 2022-03-08 Cilag Gmbh International Surgical device for use with a robotic system
US10736634B2 (en) 2011-05-27 2020-08-11 Ethicon Llc Robotically-driven surgical instrument including a drive system
US9271799B2 (en) 2011-05-27 2016-03-01 Ethicon Endo-Surgery, Llc Robotic surgical system with removable motor housing
US11439470B2 (en) 2011-05-27 2022-09-13 Cilag Gmbh International Robotically-controlled surgical instrument with selectively articulatable end effector
US10383633B2 (en) 2011-05-27 2019-08-20 Ethicon Llc Robotically-driven surgical assembly
US10524790B2 (en) 2011-05-27 2020-01-07 Ethicon Llc Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US10780539B2 (en) 2011-05-27 2020-09-22 Ethicon Llc Stapling instrument for use with a robotic system
US11612394B2 (en) 2011-05-27 2023-03-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
US10004506B2 (en) 2011-05-27 2018-06-26 Ethicon Llc Surgical system
US10071452B2 (en) 2011-05-27 2018-09-11 Ethicon Llc Automated end effector component reloading system for use with a robotic system
US10485546B2 (en) 2011-05-27 2019-11-26 Ethicon Llc Robotically-driven surgical assembly
US9775614B2 (en) 2011-05-27 2017-10-03 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotatable staple deployment arrangements
US10433900B2 (en) 2011-07-22 2019-10-08 Ethicon Llc Surgical instruments for tensioning tissue
US9216019B2 (en) 2011-09-23 2015-12-22 Ethicon Endo-Surgery, Inc. Surgical stapler with stationary staple drivers
US9592054B2 (en) 2011-09-23 2017-03-14 Ethicon Endo-Surgery, Llc Surgical stapler with stationary staple drivers
US9055941B2 (en) 2011-09-23 2015-06-16 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck
US9687237B2 (en) 2011-09-23 2017-06-27 Ethicon Endo-Surgery, Llc Staple cartridge including collapsible deck arrangement
US9050084B2 (en) 2011-09-23 2015-06-09 Ethicon Endo-Surgery, Inc. Staple cartridge including collapsible deck arrangement
US10779876B2 (en) 2011-10-24 2020-09-22 Ethicon Llc Battery powered surgical instrument
US10729494B2 (en) 2012-02-10 2020-08-04 Ethicon Llc Robotically controlled surgical instrument
US10695063B2 (en) 2012-02-13 2020-06-30 Ethicon Llc Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
US9730697B2 (en) 2012-02-13 2017-08-15 Ethicon Endo-Surgery, Llc Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
US9044230B2 (en) 2012-02-13 2015-06-02 Ethicon Endo-Surgery, Inc. Surgical cutting and fastening instrument with apparatus for determining cartridge and firing motion status
US9078653B2 (en) 2012-03-26 2015-07-14 Ethicon Endo-Surgery, Inc. Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge
US10166025B2 (en) 2012-03-26 2019-01-01 Ethicon Llc Surgical stapling device with lockout system for preventing actuation in the absence of an installed staple cartridge
US9198662B2 (en) 2012-03-28 2015-12-01 Ethicon Endo-Surgery, Inc. Tissue thickness compensator having improved visibility
US9314247B2 (en) 2012-03-28 2016-04-19 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorporating a hydrophilic agent
US10667808B2 (en) 2012-03-28 2020-06-02 Ethicon Llc Staple cartridge comprising an absorbable adjunct
US11406378B2 (en) 2012-03-28 2022-08-09 Cilag Gmbh International Staple cartridge comprising a compressible tissue thickness compensator
US9517063B2 (en) 2012-03-28 2016-12-13 Ethicon Endo-Surgery, Llc Movable member for use with a tissue thickness compensator
US9414838B2 (en) 2012-03-28 2016-08-16 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprised of a plurality of materials
US9918716B2 (en) 2012-03-28 2018-03-20 Ethicon Llc Staple cartridge comprising implantable layers
US11793509B2 (en) 2012-03-28 2023-10-24 Cilag Gmbh International Staple cartridge including an implantable layer
US9724098B2 (en) 2012-03-28 2017-08-08 Ethicon Endo-Surgery, Llc Staple cartridge comprising an implantable layer
US9320523B2 (en) 2012-03-28 2016-04-26 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising tissue ingrowth features
US9204880B2 (en) 2012-03-28 2015-12-08 Ethicon Endo-Surgery, Inc. Tissue thickness compensator comprising capsules defining a low pressure environment
US9974538B2 (en) 2012-03-28 2018-05-22 Ethicon Llc Staple cartridge comprising a compressible layer
US11918220B2 (en) 2012-03-28 2024-03-05 Cilag Gmbh International Tissue thickness compensator comprising tissue ingrowth features
US9307989B2 (en) 2012-03-28 2016-04-12 Ethicon Endo-Surgery, Llc Tissue stapler having a thickness compensator incorportating a hydrophobic agent
US10441285B2 (en) 2012-03-28 2019-10-15 Ethicon Llc Tissue thickness compensator comprising tissue ingrowth features
US11419626B2 (en) 2012-04-09 2022-08-23 Cilag Gmbh International Switch arrangements for ultrasonic surgical instruments
US10517627B2 (en) 2012-04-09 2019-12-31 Ethicon Llc Switch arrangements for ultrasonic surgical instruments
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US11707273B2 (en) 2012-06-15 2023-07-25 Cilag Gmbh International Articulatable surgical instrument comprising a firing drive
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US10959725B2 (en) 2012-06-15 2021-03-30 Ethicon Llc Articulatable surgical instrument comprising a firing drive
US10064621B2 (en) 2012-06-15 2018-09-04 Ethicon Llc Articulatable surgical instrument comprising a firing drive
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US10485617B2 (en) 2012-06-21 2019-11-26 Globus Medical, Inc. Surgical robot platform
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11819365B2 (en) 2012-06-21 2023-11-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11819283B2 (en) 2012-06-21 2023-11-21 Globus Medical Inc. Systems and methods related to robotic guidance in surgery
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US10531927B2 (en) 2012-06-21 2020-01-14 Globus Medical, Inc. Methods for performing invasive medical procedures using a surgical robot
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US10912617B2 (en) 2012-06-21 2021-02-09 Globus Medical, Inc. Surgical robot platform
US11684431B2 (en) 2012-06-21 2023-06-27 Globus Medical, Inc. Surgical robot platform
US11331153B2 (en) 2012-06-21 2022-05-17 Globus Medical, Inc. Surgical robot platform
US11690687B2 (en) 2012-06-21 2023-07-04 Globus Medical Inc. Methods for performing medical procedures using a surgical robot
US11026756B2 (en) 2012-06-21 2021-06-08 Globus Medical, Inc. Surgical robot platform
US11744657B2 (en) 2012-06-21 2023-09-05 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11135022B2 (en) 2012-06-21 2021-10-05 Globus Medical, Inc. Surgical robot platform
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
US11103317B2 (en) 2012-06-21 2021-08-31 Globus Medical, Inc. Surgical robot platform
US11684433B2 (en) 2012-06-21 2023-06-27 Globus Medical Inc. Surgical tool systems and method
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US11191598B2 (en) 2012-06-21 2021-12-07 Globus Medical, Inc. Surgical robot platform
US11103320B2 (en) 2012-06-21 2021-08-31 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11684437B2 (en) 2012-06-21 2023-06-27 Globus Medical Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US10639112B2 (en) 2012-06-21 2020-05-05 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US11109922B2 (en) 2012-06-21 2021-09-07 Globus Medical, Inc. Surgical tool systems and method
US10835326B2 (en) 2012-06-21 2020-11-17 Globus Medical Inc. Surgical robot platform
US11911225B2 (en) 2012-06-21 2024-02-27 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US10835328B2 (en) 2012-06-21 2020-11-17 Globus Medical, Inc. Surgical robot platform
US11284949B2 (en) 2012-06-21 2022-03-29 Globus Medical, Inc. Surgical robot platform
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US11534162B2 (en) 2012-06-28 2022-12-27 Cilag GmbH Inlernational Robotically powered surgical device with manually-actuatable reversing system
US10258333B2 (en) 2012-06-28 2019-04-16 Ethicon Llc Surgical fastening apparatus with a rotary end effector drive shaft for selective engagement with a motorized drive system
US10639115B2 (en) 2012-06-28 2020-05-05 Ethicon Llc Surgical end effectors having angled tissue-contacting surfaces
US9364230B2 (en) 2012-06-28 2016-06-14 Ethicon Endo-Surgery, Llc Surgical stapling instruments with rotary joint assemblies
US10932775B2 (en) 2012-06-28 2021-03-02 Ethicon Llc Firing system lockout arrangements for surgical instruments
US11806013B2 (en) 2012-06-28 2023-11-07 Cilag Gmbh International Firing system arrangements for surgical instruments
US9226751B2 (en) 2012-06-28 2016-01-05 Ethicon Endo-Surgery, Inc. Surgical instrument system including replaceable end effectors
US10987123B2 (en) 2012-06-28 2021-04-27 Ethicon Llc Surgical instruments with articulating shafts
US9028494B2 (en) 2012-06-28 2015-05-12 Ethicon Endo-Surgery, Inc. Interchangeable end effector coupling arrangement
US11857189B2 (en) 2012-06-28 2024-01-02 Cilag Gmbh International Surgical instrument including first and second articulation joints
US9561038B2 (en) 2012-06-28 2017-02-07 Ethicon Endo-Surgery, Llc Interchangeable clip applier
US11918213B2 (en) 2012-06-28 2024-03-05 Cilag Gmbh International Surgical stapler including couplers for attaching a shaft to an end effector
US11039837B2 (en) 2012-06-28 2021-06-22 Cilag Gmbh International Firing system lockout arrangements for surgical instruments
US11622766B2 (en) 2012-06-28 2023-04-11 Cilag Gmbh International Empty clip cartridge lockout
US11058423B2 (en) 2012-06-28 2021-07-13 Cilag Gmbh International Stapling system including first and second closure systems for use with a surgical robot
US11540829B2 (en) 2012-06-28 2023-01-03 Cilag Gmbh International Surgical instrument system including replaceable end effectors
US10687812B2 (en) 2012-06-28 2020-06-23 Ethicon Llc Surgical instrument system including replaceable end effectors
US11510671B2 (en) 2012-06-28 2022-11-29 Cilag Gmbh International Firing system lockout arrangements for surgical instruments
US11154299B2 (en) 2012-06-28 2021-10-26 Cilag Gmbh International Stapling assembly comprising a firing lockout
US10420555B2 (en) 2012-06-28 2019-09-24 Ethicon Llc Hand held rotary powered surgical instruments with end effectors that are articulatable about multiple axes
US9907620B2 (en) 2012-06-28 2018-03-06 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
US9204879B2 (en) 2012-06-28 2015-12-08 Ethicon Endo-Surgery, Inc. Flexible drive member
US10413294B2 (en) 2012-06-28 2019-09-17 Ethicon Llc Shaft assembly arrangements for surgical instruments
US11141156B2 (en) 2012-06-28 2021-10-12 Cilag Gmbh International Surgical stapling assembly comprising flexible output shaft
US11007004B2 (en) 2012-06-28 2021-05-18 Ethicon Llc Powered multi-axial articulable electrosurgical device with external dissection features
US11083457B2 (en) 2012-06-28 2021-08-10 Cilag Gmbh International Surgical instrument system including replaceable end effectors
US11202631B2 (en) 2012-06-28 2021-12-21 Cilag Gmbh International Stapling assembly comprising a firing lockout
US9072536B2 (en) 2012-06-28 2015-07-07 Ethicon Endo-Surgery, Inc. Differential locking arrangements for rotary powered surgical instruments
US11278284B2 (en) 2012-06-28 2022-03-22 Cilag Gmbh International Rotary drive arrangements for surgical instruments
US10383630B2 (en) 2012-06-28 2019-08-20 Ethicon Llc Surgical stapling device with rotary driven firing member
US11141155B2 (en) 2012-06-28 2021-10-12 Cilag Gmbh International Drive system for surgical tool
US9408606B2 (en) 2012-06-28 2016-08-09 Ethicon Endo-Surgery, Llc Robotically powered surgical device with manually-actuatable reversing system
US11197671B2 (en) 2012-06-28 2021-12-14 Cilag Gmbh International Stapling assembly comprising a lockout
US10874391B2 (en) 2012-06-28 2020-12-29 Ethicon Llc Surgical instrument system including replaceable end effectors
US11109860B2 (en) 2012-06-28 2021-09-07 Cilag Gmbh International Surgical end effectors for use with hand-held and robotically-controlled rotary powered surgical systems
US11464513B2 (en) 2012-06-28 2022-10-11 Cilag Gmbh International Surgical instrument system including replaceable end effectors
US11779420B2 (en) 2012-06-28 2023-10-10 Cilag Gmbh International Robotic surgical attachments having manually-actuated retraction assemblies
US10485541B2 (en) 2012-06-28 2019-11-26 Ethicon Llc Robotically powered surgical device with manually-actuatable reversing system
US11602346B2 (en) 2012-06-28 2023-03-14 Cilag Gmbh International Robotically powered surgical device with manually-actuatable reversing system
US9125662B2 (en) 2012-06-28 2015-09-08 Ethicon Endo-Surgery, Inc. Multi-axis articulating and rotating surgical tools
US9119657B2 (en) 2012-06-28 2015-09-01 Ethicon Endo-Surgery, Inc. Rotary actuatable closure arrangement for surgical end effector
US9101385B2 (en) 2012-06-28 2015-08-11 Ethicon Endo-Surgery, Inc. Electrode connections for rotary driven surgical tools
US11241230B2 (en) 2012-06-28 2022-02-08 Cilag Gmbh International Clip applier tool for use with a robotic surgical system
US10779845B2 (en) 2012-06-29 2020-09-22 Ethicon Llc Ultrasonic surgical instruments with distally positioned transducers
US11717311B2 (en) 2012-06-29 2023-08-08 Cilag Gmbh International Surgical instruments with articulating shafts
US11583306B2 (en) 2012-06-29 2023-02-21 Cilag Gmbh International Surgical instruments with articulating shafts
US10335183B2 (en) 2012-06-29 2019-07-02 Ethicon Llc Feedback devices for surgical control systems
US10543008B2 (en) 2012-06-29 2020-01-28 Ethicon Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
US10335182B2 (en) 2012-06-29 2019-07-02 Ethicon Llc Surgical instruments with articulating shafts
US10842580B2 (en) 2012-06-29 2020-11-24 Ethicon Llc Ultrasonic surgical instruments with control mechanisms
US10441310B2 (en) 2012-06-29 2019-10-15 Ethicon Llc Surgical instruments with curved section
US11096752B2 (en) 2012-06-29 2021-08-24 Cilag Gmbh International Closed feedback control for electrosurgical device
US11602371B2 (en) 2012-06-29 2023-03-14 Cilag Gmbh International Ultrasonic surgical instruments with control mechanisms
US10966747B2 (en) 2012-06-29 2021-04-06 Ethicon Llc Haptic feedback devices for surgical robot
US10524872B2 (en) 2012-06-29 2020-01-07 Ethicon Llc Closed feedback control for electrosurgical device
US11871955B2 (en) 2012-06-29 2024-01-16 Cilag Gmbh International Surgical instruments with articulating shafts
US10993763B2 (en) 2012-06-29 2021-05-04 Ethicon Llc Lockout mechanism for use with robotic electrosurgical device
US11426191B2 (en) 2012-06-29 2022-08-30 Cilag Gmbh International Ultrasonic surgical instruments with distally positioned jaw assemblies
US11373755B2 (en) 2012-08-23 2022-06-28 Cilag Gmbh International Surgical device drive system including a ratchet mechanism
US10881449B2 (en) 2012-09-28 2021-01-05 Ethicon Llc Multi-function bi-polar forceps
US9386985B2 (en) 2012-10-15 2016-07-12 Ethicon Endo-Surgery, Llc Surgical cutting instrument
US11179173B2 (en) 2012-10-22 2021-11-23 Cilag Gmbh International Surgical instrument
US9795405B2 (en) 2012-10-22 2017-10-24 Ethicon Llc Surgical instrument
US11324527B2 (en) 2012-11-15 2022-05-10 Cilag Gmbh International Ultrasonic and electrosurgical devices
US9386984B2 (en) 2013-02-08 2016-07-12 Ethicon Endo-Surgery, Llc Staple cartridge comprising a releasable cover
US11684363B2 (en) 2013-02-28 2023-06-27 Cilag Gmbh International Integrated tissue positioning and jaw alignment features for surgical stapler
US9913645B2 (en) 2013-02-28 2018-03-13 Ethicon Llc Lockout feature for movable cutting member of surgical instrument
US10687807B2 (en) 2013-02-28 2020-06-23 Ethicon Llc Integrated tissue positioning and jaw alignment features for surgical stapler
US9622747B2 (en) 2013-02-28 2017-04-18 Ethicon Endo-Surgery, Llc Surgical instrument end effector articulation drive with pinion and opposing racks
US11246618B2 (en) 2013-03-01 2022-02-15 Cilag Gmbh International Surgical instrument soft stop
US9307986B2 (en) 2013-03-01 2016-04-12 Ethicon Endo-Surgery, Llc Surgical instrument soft stop
US11529138B2 (en) 2013-03-01 2022-12-20 Cilag Gmbh International Powered surgical instrument including a rotary drive screw
US9700309B2 (en) 2013-03-01 2017-07-11 Ethicon Llc Articulatable surgical instruments with conductive pathways for signal communication
US10226249B2 (en) 2013-03-01 2019-03-12 Ethicon Llc Articulatable surgical instruments with conductive pathways for signal communication
US10285695B2 (en) 2013-03-01 2019-05-14 Ethicon Llc Articulatable surgical instruments with conductive pathways
US9358003B2 (en) 2013-03-01 2016-06-07 Ethicon Endo-Surgery, Llc Electromechanical surgical device with signal relay arrangement
US9326767B2 (en) 2013-03-01 2016-05-03 Ethicon Endo-Surgery, Llc Joystick switch assemblies for surgical instruments
US9782169B2 (en) 2013-03-01 2017-10-10 Ethicon Llc Rotary powered articulation joints for surgical instruments
US9554794B2 (en) 2013-03-01 2017-01-31 Ethicon Endo-Surgery, Llc Multiple processor motor control for modular surgical instruments
US9398911B2 (en) 2013-03-01 2016-07-26 Ethicon Endo-Surgery, Llc Rotary powered surgical instruments with multiple degrees of freedom
US9468438B2 (en) 2013-03-01 2016-10-18 Eticon Endo-Surgery, LLC Sensor straightened end effector during removal through trocar
US10575868B2 (en) 2013-03-01 2020-03-03 Ethicon Llc Surgical instrument with coupler assembly
US11602394B2 (en) 2013-03-13 2023-03-14 Cilag Gmbh International Electrosurgical device with disposable shaft having modular subassembly
US10813702B2 (en) 2013-03-13 2020-10-27 Ethicon Llc Robotic ultrasonic surgical device with articulating end effector
US9707033B2 (en) 2013-03-13 2017-07-18 Ethicon Endo-Surgery, Llc Electrosurgical device with disposable shaft having modular subassembly
US11311296B2 (en) 2013-03-13 2022-04-26 Cilag Gmbh International Electrosurgical device with disposable shaft having rack and pinion drive
US9345481B2 (en) 2013-03-13 2016-05-24 Ethicon Endo-Surgery, Llc Staple cartridge tissue thickness sensor system
US11058479B2 (en) 2013-03-13 2021-07-13 Cilag Gmbh International Robotic electrosurgical device with disposable shaft
US11311344B2 (en) 2013-03-13 2022-04-26 Cilag Gmbh International Electrosurgical device with drum-driven articulation
US10206738B2 (en) 2013-03-13 2019-02-19 Ethicon Llc Robotic electrosurgical device with disposable shaft
US10524856B2 (en) 2013-03-13 2020-01-07 Ethicon Llc Electrosurgical device with disposable shaft having modular subassembly
US10478186B2 (en) 2013-03-13 2019-11-19 Ethicon Llc Electrosurgical device with disposable shaft having rack and pinion drive
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
US9687230B2 (en) 2013-03-14 2017-06-27 Ethicon Llc Articulatable surgical instrument comprising a firing drive
US9883860B2 (en) 2013-03-14 2018-02-06 Ethicon Llc Interchangeable shaft assemblies for use with a surgical instrument
US11272952B2 (en) 2013-03-14 2022-03-15 Cilag Gmbh International Mechanical fasteners for use with surgical energy devices
US9888919B2 (en) 2013-03-14 2018-02-13 Ethicon Llc Method and system for operating a surgical instrument
US10617416B2 (en) 2013-03-14 2020-04-14 Ethicon Llc Control systems for surgical instruments
US9332987B2 (en) 2013-03-14 2016-05-10 Ethicon Endo-Surgery, Llc Control arrangements for a drive member of a surgical instrument
US10893867B2 (en) 2013-03-14 2021-01-19 Ethicon Llc Drive train control arrangements for modular surgical instruments
US9351727B2 (en) 2013-03-14 2016-05-31 Ethicon Endo-Surgery, Llc Drive train control arrangements for modular surgical instruments
US9629623B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgery, Llc Drive system lockout arrangements for modular surgical instruments
US10470762B2 (en) 2013-03-14 2019-11-12 Ethicon Llc Multi-function motor for a surgical instrument
US11266406B2 (en) 2013-03-14 2022-03-08 Cilag Gmbh International Control systems for surgical instruments
US10238391B2 (en) 2013-03-14 2019-03-26 Ethicon Llc Drive train control arrangements for modular surgical instruments
US9351726B2 (en) 2013-03-14 2016-05-31 Ethicon Endo-Surgery, Llc Articulation control system for articulatable surgical instruments
US9808244B2 (en) 2013-03-14 2017-11-07 Ethicon Llc Sensor arrangements for absolute positioning system for surgical instruments
US11896363B2 (en) 2013-03-15 2024-02-13 Globus Medical Inc. Surgical robot platform
US9572577B2 (en) 2013-03-27 2017-02-21 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a tissue thickness compensator including openings therein
US9795384B2 (en) 2013-03-27 2017-10-24 Ethicon Llc Fastener cartridge comprising a tissue thickness compensator and a gap setting element
US9332984B2 (en) 2013-03-27 2016-05-10 Ethicon Endo-Surgery, Llc Fastener cartridge assemblies
US10149680B2 (en) 2013-04-16 2018-12-11 Ethicon Llc Surgical instrument comprising a gap setting system
US11395652B2 (en) 2013-04-16 2022-07-26 Cilag Gmbh International Powered surgical stapler
US9867612B2 (en) 2013-04-16 2018-01-16 Ethicon Llc Powered surgical stapler
US11406381B2 (en) 2013-04-16 2022-08-09 Cilag Gmbh International Powered surgical stapler
US9826976B2 (en) 2013-04-16 2017-11-28 Ethicon Llc Motor driven surgical instruments with lockable dual drive shafts
US11622763B2 (en) 2013-04-16 2023-04-11 Cilag Gmbh International Stapling assembly comprising a shiftable drive
US9814460B2 (en) 2013-04-16 2017-11-14 Ethicon Llc Modular motor driven surgical instruments with status indication arrangements
US10702266B2 (en) 2013-04-16 2020-07-07 Ethicon Llc Surgical instrument system
US11564679B2 (en) 2013-04-16 2023-01-31 Cilag Gmbh International Powered surgical stapler
US10405857B2 (en) 2013-04-16 2019-09-10 Ethicon Llc Powered linear surgical stapler
US11690615B2 (en) 2013-04-16 2023-07-04 Cilag Gmbh International Surgical system including an electric motor and a surgical instrument
US9844368B2 (en) 2013-04-16 2017-12-19 Ethicon Llc Surgical system comprising first and second drive systems
US10136887B2 (en) 2013-04-16 2018-11-27 Ethicon Llc Drive system decoupling arrangement for a surgical instrument
US9649110B2 (en) 2013-04-16 2017-05-16 Ethicon Llc Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output
US9801626B2 (en) 2013-04-16 2017-10-31 Ethicon Llc Modular motor driven surgical instruments with alignment features for aligning rotary drive shafts with surgical end effector shafts
US11638581B2 (en) 2013-04-16 2023-05-02 Cilag Gmbh International Powered surgical stapler
US11633183B2 (en) 2013-04-16 2023-04-25 Cilag International GmbH Stapling assembly comprising a retraction drive
US10888318B2 (en) 2013-04-16 2021-01-12 Ethicon Llc Powered surgical stapler
US9574644B2 (en) 2013-05-30 2017-02-21 Ethicon Endo-Surgery, Llc Power module for use with a surgical instrument
US20160184033A1 (en) * 2013-08-15 2016-06-30 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US10307213B2 (en) 2013-08-15 2019-06-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
US10799303B2 (en) 2013-08-15 2020-10-13 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US11564758B2 (en) 2013-08-15 2023-01-31 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US10993773B2 (en) 2013-08-15 2021-05-04 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10932867B2 (en) 2013-08-15 2021-03-02 Intuitive Surgical Operations, Inc. Reusable surgical instrument with single-use tip and integrated tip cover
US10271911B2 (en) 2013-08-15 2019-04-30 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive features
US10932868B2 (en) 2013-08-15 2021-03-02 Intuitive Surgical Operations, Inc. Variable instrument preload mechanism controller
US11248686B2 (en) 2013-08-15 2022-02-15 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US10980556B2 (en) 2013-08-15 2021-04-20 Intuitive Surgical Operations, Inc. Rotary input for lever actuation
US11793587B2 (en) 2013-08-15 2023-10-24 Intuitive Surgical Operations, Inc. Preloaded surgical instrument interface
US11090124B2 (en) 2013-08-15 2021-08-17 Intuitive Surgical Operations, Inc. Instrument sterile adapter drive interface
US10695138B2 (en) 2013-08-15 2020-06-30 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US10993775B2 (en) 2013-08-15 2021-05-04 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US10016244B2 (en) * 2013-08-15 2018-07-10 Intuitive Surgical Operations, Inc. Robotic instrument driven element
US11624428B2 (en) 2013-08-15 2023-04-11 Intuitive Surgical Operations, Inc. Lever actuated gimbal plate
US10624634B2 (en) 2013-08-23 2020-04-21 Ethicon Llc Firing trigger lockout arrangements for surgical instruments
US9924942B2 (en) 2013-08-23 2018-03-27 Ethicon Llc Motor-powered articulatable surgical instruments
US9700310B2 (en) 2013-08-23 2017-07-11 Ethicon Llc Firing member retraction devices for powered surgical instruments
US10201349B2 (en) 2013-08-23 2019-02-12 Ethicon Llc End effector detection and firing rate modulation systems for surgical instruments
US9987006B2 (en) 2013-08-23 2018-06-05 Ethicon Llc Shroud retention arrangement for sterilizable surgical instruments
US9510828B2 (en) 2013-08-23 2016-12-06 Ethicon Endo-Surgery, Llc Conductor arrangements for electrically powered surgical instruments with rotatable end effectors
US9283054B2 (en) 2013-08-23 2016-03-15 Ethicon Endo-Surgery, Llc Interactive displays
US11109858B2 (en) 2013-08-23 2021-09-07 Cilag Gmbh International Surgical instrument including a display which displays the position of a firing element
US11504119B2 (en) 2013-08-23 2022-11-22 Cilag Gmbh International Surgical instrument including an electronic firing lockout
US9775609B2 (en) 2013-08-23 2017-10-03 Ethicon Llc Tamper proof circuit for surgical instrument battery pack
US10898190B2 (en) 2013-08-23 2021-01-26 Ethicon Llc Secondary battery arrangements for powered surgical instruments
US11133106B2 (en) 2013-08-23 2021-09-28 Cilag Gmbh International Surgical instrument assembly comprising a retraction assembly
US11376001B2 (en) 2013-08-23 2022-07-05 Cilag Gmbh International Surgical stapling device with rotary multi-turn retraction mechanism
US11701110B2 (en) 2013-08-23 2023-07-18 Cilag Gmbh International Surgical instrument including a drive assembly movable in a non-motorized mode of operation
US10441281B2 (en) 2013-08-23 2019-10-15 Ethicon Llc surgical instrument including securing and aligning features
US10828032B2 (en) 2013-08-23 2020-11-10 Ethicon Llc End effector detection systems for surgical instruments
US11918209B2 (en) 2013-08-23 2024-03-05 Cilag Gmbh International Torque optimization for surgical instruments
US10869665B2 (en) 2013-08-23 2020-12-22 Ethicon Llc Surgical instrument system including a control system
US9808249B2 (en) 2013-08-23 2017-11-07 Ethicon Llc Attachment portions for surgical instrument assemblies
US9445813B2 (en) 2013-08-23 2016-09-20 Ethicon Endo-Surgery, Llc Closure indicator systems for surgical instruments
US11026680B2 (en) 2013-08-23 2021-06-08 Cilag Gmbh International Surgical instrument configured to operate in different states
US11134940B2 (en) 2013-08-23 2021-10-05 Cilag Gmbh International Surgical instrument including a variable speed firing member
US10925659B2 (en) 2013-09-13 2021-02-23 Ethicon Llc Electrosurgical (RF) medical instruments for cutting and coagulating tissue
US10813704B2 (en) 2013-10-04 2020-10-27 Kb Medical, Sa Apparatus and systems for precise guidance of surgical tools
US10952731B2 (en) 2013-11-04 2021-03-23 Covidien Lp Surgical fastener applying apparatus
US10517593B2 (en) 2013-11-04 2019-12-31 Covidien Lp Surgical fastener applying apparatus
US11033264B2 (en) 2013-11-04 2021-06-15 Covidien Lp Surgical fastener applying apparatus
US10912603B2 (en) 2013-11-08 2021-02-09 Ethicon Llc Electrosurgical devices
US10912580B2 (en) 2013-12-16 2021-02-09 Ethicon Llc Medical device
US11033292B2 (en) 2013-12-16 2021-06-15 Cilag Gmbh International Medical device
US11911044B2 (en) 2013-12-17 2024-02-27 Standard Bariatrics, Inc. Resection line guide for a medical procedure and method of using same
US10987108B2 (en) 2013-12-17 2021-04-27 Standard Bariatrics, Inc. Resection line guide for a medical procedure and method of using same
US10603034B2 (en) 2013-12-19 2020-03-31 Covidien Lp Surgical staples and end effectors for deploying the same
US11446026B2 (en) 2013-12-19 2022-09-20 Covidien Lp Surgical staples and end effectors for deploying the same
US9867613B2 (en) 2013-12-19 2018-01-16 Covidien Lp Surgical staples and end effectors for deploying the same
US10299842B2 (en) 2013-12-20 2019-05-28 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US11109902B2 (en) 2013-12-20 2021-09-07 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US11317951B2 (en) 2013-12-20 2022-05-03 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US11871899B2 (en) 2013-12-20 2024-01-16 Crossroads Extremity Systems, Llc Bone plates with dynamic elements
US9549735B2 (en) 2013-12-23 2017-01-24 Ethicon Endo-Surgery, Llc Fastener cartridge comprising a firing member including fastener transfer surfaces
US9681870B2 (en) 2013-12-23 2017-06-20 Ethicon Llc Articulatable surgical instruments with separate and distinct closing and firing systems
US9585662B2 (en) 2013-12-23 2017-03-07 Ethicon Endo-Surgery, Llc Fastener cartridge comprising an extendable firing member
US9642620B2 (en) 2013-12-23 2017-05-09 Ethicon Endo-Surgery, Llc Surgical cutting and stapling instruments with articulatable end effectors
US11779327B2 (en) 2013-12-23 2023-10-10 Cilag Gmbh International Surgical stapling system including a push bar
US9763662B2 (en) 2013-12-23 2017-09-19 Ethicon Llc Fastener cartridge comprising a firing member configured to directly engage and eject fasteners from the fastener cartridge
US9724092B2 (en) 2013-12-23 2017-08-08 Ethicon Llc Modular surgical instruments
US11896223B2 (en) 2013-12-23 2024-02-13 Cilag Gmbh International Surgical cutting and stapling instruments with independent jaw control features
US11123065B2 (en) 2013-12-23 2021-09-21 Cilag Gmbh International Surgical cutting and stapling instruments with independent jaw control features
US11364028B2 (en) 2013-12-23 2022-06-21 Cilag Gmbh International Modular surgical system
US9839428B2 (en) 2013-12-23 2017-12-12 Ethicon Llc Surgical cutting and stapling instruments with independent jaw control features
US10588624B2 (en) 2013-12-23 2020-03-17 Ethicon Llc Surgical staples, staple cartridges and surgical end effectors
US9968354B2 (en) 2013-12-23 2018-05-15 Ethicon Llc Surgical staples and methods for making the same
US11759201B2 (en) 2013-12-23 2023-09-19 Cilag Gmbh International Surgical stapling system comprising an end effector including an anvil with an anvil cap
US10925599B2 (en) 2013-12-23 2021-02-23 Ethicon Llc Modular surgical instruments
US10265065B2 (en) 2013-12-23 2019-04-23 Ethicon Llc Surgical staples and staple cartridges
US11583273B2 (en) 2013-12-23 2023-02-21 Cilag Gmbh International Surgical stapling system including a firing beam extending through an articulation region
US9793624B2 (en) 2013-12-24 2017-10-17 Ppc Broadband, Inc. Connector having an inner conductor engager
US10833433B2 (en) 2013-12-24 2020-11-10 Ppc Broadband, Inc. Connector having an inner conductor engager
US11569593B2 (en) 2013-12-24 2023-01-31 Ppc Broadband, Inc. Connector having an inner conductor engager
US9539020B2 (en) 2013-12-27 2017-01-10 Ethicon Endo-Surgery, Llc Coupling features for ultrasonic surgical instrument
US10856929B2 (en) 2014-01-07 2020-12-08 Ethicon Llc Harvesting energy from a surgical generator
US11737766B2 (en) 2014-01-15 2023-08-29 Globus Medical Inc. Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
US10939968B2 (en) 2014-02-11 2021-03-09 Globus Medical Inc. Sterile handle for controlling a robotic surgical system from a sterile field
US11020115B2 (en) 2014-02-12 2021-06-01 Cilag Gmbh International Deliverable surgical instrument
US9839423B2 (en) 2014-02-24 2017-12-12 Ethicon Llc Implantable layers and methods for modifying the shape of the implantable layers for use with a surgical fastening instrument
US10426481B2 (en) 2014-02-24 2019-10-01 Ethicon Llc Implantable layer assemblies
US9884456B2 (en) 2014-02-24 2018-02-06 Ethicon Llc Implantable layers and methods for altering one or more properties of implantable layers for use with fastening instruments
US10932847B2 (en) 2014-03-18 2021-03-02 Ethicon Llc Detecting short circuits in electrosurgical medical devices
US10779879B2 (en) 2014-03-18 2020-09-22 Ethicon Llc Detecting short circuits in electrosurgical medical devices
US9690362B2 (en) 2014-03-26 2017-06-27 Ethicon Llc Surgical instrument control circuit having a safety processor
US9820738B2 (en) 2014-03-26 2017-11-21 Ethicon Llc Surgical instrument comprising interactive systems
US9913642B2 (en) 2014-03-26 2018-03-13 Ethicon Llc Surgical instrument comprising a sensor system
US10136889B2 (en) 2014-03-26 2018-11-27 Ethicon Llc Systems and methods for controlling a segmented circuit
US10013049B2 (en) 2014-03-26 2018-07-03 Ethicon Llc Power management through sleep options of segmented circuit and wake up control
US9733663B2 (en) 2014-03-26 2017-08-15 Ethicon Llc Power management through segmented circuit and variable voltage protection
US9804618B2 (en) 2014-03-26 2017-10-31 Ethicon Llc Systems and methods for controlling a segmented circuit
US10201364B2 (en) 2014-03-26 2019-02-12 Ethicon Llc Surgical instrument comprising a rotatable shaft
US10028761B2 (en) 2014-03-26 2018-07-24 Ethicon Llc Feedback algorithms for manual bailout systems for surgical instruments
US10004497B2 (en) 2014-03-26 2018-06-26 Ethicon Llc Interface systems for use with surgical instruments
US9730695B2 (en) 2014-03-26 2017-08-15 Ethicon Endo-Surgery, Llc Power management through segmented circuit
US9743929B2 (en) 2014-03-26 2017-08-29 Ethicon Llc Modular powered surgical instrument with detachable shaft assemblies
US10588626B2 (en) 2014-03-26 2020-03-17 Ethicon Llc Surgical instrument displaying subsequent step of use
US10863981B2 (en) 2014-03-26 2020-12-15 Ethicon Llc Interface systems for use with surgical instruments
US10898185B2 (en) 2014-03-26 2021-01-26 Ethicon Llc Surgical instrument power management through sleep and wake up control
US9750499B2 (en) 2014-03-26 2017-09-05 Ethicon Llc Surgical stapling instrument system
US11497488B2 (en) 2014-03-26 2022-11-15 Cilag Gmbh International Systems and methods for controlling a segmented circuit
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
US11259799B2 (en) 2014-03-26 2022-03-01 Cilag Gmbh International Interface systems for use with surgical instruments
US10117653B2 (en) 2014-03-26 2018-11-06 Ethicon Llc Systems and methods for controlling a segmented circuit
US10463421B2 (en) 2014-03-27 2019-11-05 Ethicon Llc Two stage trigger, clamp and cut bipolar vessel sealer
US11399855B2 (en) 2014-03-27 2022-08-02 Cilag Gmbh International Electrosurgical devices
US11096686B2 (en) 2014-03-29 2021-08-24 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11717295B2 (en) 2014-03-29 2023-08-08 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11510672B2 (en) 2014-03-29 2022-11-29 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11633184B2 (en) 2014-03-29 2023-04-25 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11812962B2 (en) 2014-03-29 2023-11-14 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US10624638B2 (en) 2014-03-29 2020-04-21 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US10349999B2 (en) 2014-03-31 2019-07-16 Ethicon Llc Controlling impedance rise in electrosurgical medical devices
US11471209B2 (en) 2014-03-31 2022-10-18 Cilag Gmbh International Controlling impedance rise in electrosurgical medical devices
US11337747B2 (en) 2014-04-15 2022-05-24 Cilag Gmbh International Software algorithms for electrosurgical instruments
US10542988B2 (en) 2014-04-16 2020-01-28 Ethicon Llc End effector comprising an anvil including projections extending therefrom
US9844369B2 (en) 2014-04-16 2017-12-19 Ethicon Llc Surgical end effectors with firing element monitoring arrangements
US11883026B2 (en) 2014-04-16 2024-01-30 Cilag Gmbh International Fastener cartridge assemblies and staple retainer cover arrangements
US11918222B2 (en) 2014-04-16 2024-03-05 Cilag Gmbh International Stapling assembly having firing member viewing windows
US11298134B2 (en) 2014-04-16 2022-04-12 Cilag Gmbh International Fastener cartridge comprising non-uniform fasteners
US10010324B2 (en) 2014-04-16 2018-07-03 Ethicon Llc Fastener cartridge compromising fastener cavities including fastener control features
US11925353B2 (en) 2014-04-16 2024-03-12 Cilag Gmbh International Surgical stapling instrument comprising internal passage between stapling cartridge and elongate channel
US10299792B2 (en) 2014-04-16 2019-05-28 Ethicon Llc Fastener cartridge comprising non-uniform fasteners
US11517315B2 (en) 2014-04-16 2022-12-06 Cilag Gmbh International Fastener cartridges including extensions having different configurations
US10327776B2 (en) 2014-04-16 2019-06-25 Ethicon Llc Surgical stapling buttresses and adjunct materials
US11382625B2 (en) 2014-04-16 2022-07-12 Cilag Gmbh International Fastener cartridge comprising non-uniform fasteners
US11382627B2 (en) 2014-04-16 2022-07-12 Cilag Gmbh International Surgical stapling assembly comprising a firing member including a lateral extension
US11717294B2 (en) 2014-04-16 2023-08-08 Cilag Gmbh International End effector arrangements comprising indicators
US10561422B2 (en) 2014-04-16 2020-02-18 Ethicon Llc Fastener cartridge comprising deployable tissue engaging members
US11266409B2 (en) 2014-04-16 2022-03-08 Cilag Gmbh International Fastener cartridge comprising a sled including longitudinally-staggered ramps
US9833241B2 (en) 2014-04-16 2017-12-05 Ethicon Llc Surgical fastener cartridges with driver stabilizing arrangements
US10470768B2 (en) 2014-04-16 2019-11-12 Ethicon Llc Fastener cartridge including a layer attached thereto
US11185330B2 (en) 2014-04-16 2021-11-30 Cilag Gmbh International Fastener cartridge assemblies and staple retainer cover arrangements
US9877721B2 (en) 2014-04-16 2018-01-30 Ethicon Llc Fastener cartridge comprising tissue control features
US11596406B2 (en) 2014-04-16 2023-03-07 Cilag Gmbh International Fastener cartridges including extensions having different configurations
US10292778B2 (en) 2014-04-24 2019-05-21 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
US10828116B2 (en) 2014-04-24 2020-11-10 Kb Medical, Sa Surgical instrument holder for use with a robotic surgical system
US11793583B2 (en) 2014-04-24 2023-10-24 Globus Medical Inc. Surgical instrument holder for use with a robotic surgical system
US10512461B2 (en) 2014-05-15 2019-12-24 Covidien Lp Surgical fastener applying apparatus
US11497497B2 (en) 2014-05-15 2022-11-15 Covidien Lp Surgical fastener applying apparatus
US11547410B2 (en) 2014-06-13 2023-01-10 Cilag Gmbh International Closure lockout systems for surgical instruments
US10045781B2 (en) 2014-06-13 2018-08-14 Ethicon Llc Closure lockout systems for surgical instruments
US10729441B2 (en) 2014-06-13 2020-08-04 Ethicon Llc Closure lockout systems for surgical instruments
US10335147B2 (en) 2014-06-25 2019-07-02 Ethicon Llc Method of using lockout features for surgical stapler cartridge
US10292701B2 (en) 2014-06-25 2019-05-21 Ethicon Llc Articulation drive features for surgical stapler
US10064620B2 (en) 2014-06-25 2018-09-04 Ethicon Llc Method of unlocking articulation joint in surgical stapler
US10456132B2 (en) 2014-06-25 2019-10-29 Ethicon Llc Jaw opening feature for surgical stapler
US10314577B2 (en) 2014-06-25 2019-06-11 Ethicon Llc Lockout engagement features for surgical stapler
US11033263B2 (en) 2014-06-25 2021-06-15 Cilag Gmbh International Lockout engagement features for surgical stapler
US11432819B2 (en) 2014-06-25 2022-09-06 Cilag Gmbh International Method of using lockout features for surgical stapler cartridge
US11304694B2 (en) 2014-06-25 2022-04-19 Cilag Gmbh International Jaw opening feature for surgical stapler
US11278288B2 (en) 2014-06-25 2022-03-22 Cilag Gmbh International Method of using lockout features for surgical stapler cartridge
US9999423B2 (en) 2014-06-25 2018-06-19 Ethicon Llc Translatable articulation joint unlocking feature for surgical stapler
US11234696B2 (en) 2014-06-25 2022-02-01 Cilag Gmbh International Articulation drive features for surgical stapler
US9693774B2 (en) 2014-06-25 2017-07-04 Ethicon Llc Pivotable articulation joint unlocking feature for surgical stapler
US11202626B2 (en) 2014-07-10 2021-12-21 Crossroads Extremity Systems, Llc Bone implant with means for multi directional force and means of insertion
US10492841B2 (en) 2014-07-10 2019-12-03 Crossroads Extremity Systems, Llc Bone implant and means of insertion
US11284887B2 (en) 2014-07-10 2022-03-29 Crossroads Extremity Systems, Llc Bone implant with means for multi directional force and means of insertion
US10945742B2 (en) 2014-07-14 2021-03-16 Globus Medical Inc. Anti-skid surgical instrument for use in preparing holes in bone tissue
US11413060B2 (en) 2014-07-31 2022-08-16 Cilag Gmbh International Actuation mechanisms and load adjustment assemblies for surgical instruments
US10285724B2 (en) 2014-07-31 2019-05-14 Ethicon Llc Actuation mechanisms and load adjustment assemblies for surgical instruments
US10710246B2 (en) 2014-08-15 2020-07-14 Intuitive Surgical Operations, Inc. Surgical system with variable entry guide configurations
US11653918B2 (en) 2014-09-05 2023-05-23 Cilag Gmbh International Local display of tissue parameter stabilization
US11076854B2 (en) 2014-09-05 2021-08-03 Cilag Gmbh International Smart cartridge wake up operation and data retention
US11406386B2 (en) 2014-09-05 2022-08-09 Cilag Gmbh International End effector including magnetic and impedance sensors
US10135242B2 (en) 2014-09-05 2018-11-20 Ethicon Llc Smart cartridge wake up operation and data retention
US10905423B2 (en) 2014-09-05 2021-02-02 Ethicon Llc Smart cartridge wake up operation and data retention
US11717297B2 (en) 2014-09-05 2023-08-08 Cilag Gmbh International Smart cartridge wake up operation and data retention
US9724094B2 (en) 2014-09-05 2017-08-08 Ethicon Llc Adjunct with integrated sensors to quantify tissue compression
US11071545B2 (en) 2014-09-05 2021-07-27 Cilag Gmbh International Smart cartridge wake up operation and data retention
US11389162B2 (en) 2014-09-05 2022-07-19 Cilag Gmbh International Smart cartridge wake up operation and data retention
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
US9737301B2 (en) 2014-09-05 2017-08-22 Ethicon Llc Monitoring device degradation based on component evaluation
US10111679B2 (en) 2014-09-05 2018-10-30 Ethicon Llc Circuitry and sensors for powered medical device
US9757128B2 (en) 2014-09-05 2017-09-12 Ethicon Llc Multiple sensors with one sensor affecting a second sensor's output or interpretation
US9788836B2 (en) 2014-09-05 2017-10-17 Ethicon Llc Multiple motor control for powered medical device
US10016199B2 (en) 2014-09-05 2018-07-10 Ethicon Llc Polarity of hall magnet to identify cartridge type
US11123069B2 (en) 2014-09-18 2021-09-21 Cilag Gmbh International Surgical stapler with plurality of cutting elements
US11109864B2 (en) 2014-09-18 2021-09-07 Cilag Gmbh International Surgical stapler with plurality of cutting elements
US10105142B2 (en) 2014-09-18 2018-10-23 Ethicon Llc Surgical stapler with plurality of cutting elements
US11045198B2 (en) 2014-09-18 2021-06-29 Cilag Gmbh International Surgical stapler with plurality of cutting elements
US11284898B2 (en) 2014-09-18 2022-03-29 Cilag Gmbh International Surgical instrument including a deployable knife
US10751053B2 (en) 2014-09-26 2020-08-25 Ethicon Llc Fastener cartridges for applying expandable fastener lines
US9801627B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Fastener cartridge for creating a flexible staple line
US10426476B2 (en) 2014-09-26 2019-10-01 Ethicon Llc Circular fastener cartridges for applying radially expandable fastener lines
US10426477B2 (en) 2014-09-26 2019-10-01 Ethicon Llc Staple cartridge assembly including a ramp
US10327764B2 (en) 2014-09-26 2019-06-25 Ethicon Llc Method for creating a flexible staple line
US11202633B2 (en) 2014-09-26 2021-12-21 Cilag Gmbh International Surgical stapling buttresses and adjunct materials
US9801628B2 (en) 2014-09-26 2017-10-31 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
US10206677B2 (en) 2014-09-26 2019-02-19 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
US10736630B2 (en) 2014-10-13 2020-08-11 Ethicon Llc Staple cartridge
US10076325B2 (en) 2014-10-13 2018-09-18 Ethicon Llc Surgical stapling apparatus comprising a tissue stop
US11185325B2 (en) 2014-10-16 2021-11-30 Cilag Gmbh International End effector including different tissue gaps
US10905418B2 (en) 2014-10-16 2021-02-02 Ethicon Llc Staple cartridge comprising a tissue thickness compensator
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US11918210B2 (en) 2014-10-16 2024-03-05 Cilag Gmbh International Staple cartridge comprising a cartridge body including a plurality of wells
US10052104B2 (en) 2014-10-16 2018-08-21 Ethicon Llc Staple cartridge comprising a tissue thickness compensator
US11701114B2 (en) 2014-10-16 2023-07-18 Cilag Gmbh International Staple cartridge
US11864760B2 (en) 2014-10-29 2024-01-09 Cilag Gmbh International Staple cartridges comprising driver arrangements
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US11457918B2 (en) 2014-10-29 2022-10-04 Cilag Gmbh International Cartridge assemblies for surgical staplers
US11241229B2 (en) 2014-10-29 2022-02-08 Cilag Gmbh International Staple cartridges comprising driver arrangements
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
EP3017772A2 (en) 2014-11-06 2016-05-11 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a releasable adjunct material
WO2016073538A1 (en) 2014-11-06 2016-05-12 Ethicon Endo-Surgery, Inc. Staple cartridge comprising a releasable adjunct material
US11337698B2 (en) 2014-11-06 2022-05-24 Cilag Gmbh International Staple cartridge comprising a releasable adjunct material
US10617417B2 (en) 2014-11-06 2020-04-14 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10639092B2 (en) 2014-12-08 2020-05-05 Ethicon Llc Electrode configurations for surgical instruments
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US11382628B2 (en) 2014-12-10 2022-07-12 Cilag Gmbh International Articulatable surgical instrument system
US11553911B2 (en) 2014-12-18 2023-01-17 Cilag Gmbh International Surgical instrument assembly comprising a flexible articulation system
US10743873B2 (en) 2014-12-18 2020-08-18 Ethicon Llc Drive arrangements for articulatable surgical instruments
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US10945728B2 (en) 2014-12-18 2021-03-16 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US11399831B2 (en) 2014-12-18 2022-08-02 Cilag Gmbh International Drive arrangements for articulatable surgical instruments
US10004501B2 (en) 2014-12-18 2018-06-26 Ethicon Llc Surgical instruments with improved closure arrangements
US11547404B2 (en) 2014-12-18 2023-01-10 Cilag Gmbh International Surgical instrument assembly comprising a flexible articulation system
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US11547403B2 (en) 2014-12-18 2023-01-10 Cilag Gmbh International Surgical instrument having a laminate firing actuator and lateral buckling supports
US10245027B2 (en) 2014-12-18 2019-04-02 Ethicon Llc Surgical instrument with an anvil that is selectively movable about a discrete non-movable axis relative to a staple cartridge
US11083453B2 (en) 2014-12-18 2021-08-10 Cilag Gmbh International Surgical stapling system including a flexible firing actuator and lateral buckling supports
US11678877B2 (en) 2014-12-18 2023-06-20 Cilag Gmbh International Surgical instrument including a flexible support configured to support a flexible firing member
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US10806448B2 (en) 2014-12-18 2020-10-20 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US11571207B2 (en) 2014-12-18 2023-02-07 Cilag Gmbh International Surgical system including lateral supports for a flexible drive member
US10188385B2 (en) 2014-12-18 2019-01-29 Ethicon Llc Surgical instrument system comprising lockable systems
US10695058B2 (en) 2014-12-18 2020-06-30 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US11812958B2 (en) 2014-12-18 2023-11-14 Cilag Gmbh International Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
US9968355B2 (en) 2014-12-18 2018-05-15 Ethicon Llc Surgical instruments with articulatable end effectors and improved firing beam support arrangements
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US11517311B2 (en) 2014-12-18 2022-12-06 Cilag Gmbh International Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9888942B1 (en) 2014-12-19 2018-02-13 Ethicon Llc Adaptor for robotics cannula and seal assembly
US10751109B2 (en) 2014-12-22 2020-08-25 Ethicon Llc High power battery powered RF amplifier topology
US9848937B2 (en) 2014-12-22 2017-12-26 Ethicon Llc End effector with detectable configurations
US11062522B2 (en) 2015-02-03 2021-07-13 Global Medical Inc Surgeon head-mounted display apparatuses
US10580217B2 (en) 2015-02-03 2020-03-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US11311326B2 (en) 2015-02-06 2022-04-26 Cilag Gmbh International Electrosurgical instrument with rotation and articulation mechanisms
US11266470B2 (en) 2015-02-18 2022-03-08 KB Medical SA Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique
US10327768B2 (en) 2015-02-23 2019-06-25 Covidien Lp Double fire stapling
US10039545B2 (en) 2015-02-23 2018-08-07 Covidien Lp Double fire stapling
US11696756B2 (en) 2015-02-26 2023-07-11 Covidien Lp Surgical apparatus with conductor strain relief
USD829902S1 (en) 2015-02-26 2018-10-02 Covidien Lp Shipping wedge
US11134948B2 (en) 2015-02-26 2021-10-05 Covidien Lp Surgical apparatus
US10918383B2 (en) 2015-02-26 2021-02-16 Covidien Lp Surgical apparatus with conductor strain relief
US10987105B2 (en) 2015-02-26 2021-04-27 Covidien Lp Surgical apparatus
USD829903S1 (en) 2015-02-26 2018-10-02 Covidien Lp Shipping wedge
US10085749B2 (en) 2015-02-26 2018-10-02 Covidien Lp Surgical apparatus with conductor strain relief
US10285698B2 (en) 2015-02-26 2019-05-14 Covidien Lp Surgical apparatus
US10130367B2 (en) 2015-02-26 2018-11-20 Covidien Lp Surgical apparatus
US10182816B2 (en) 2015-02-27 2019-01-22 Ethicon Llc Charging system that enables emergency resolutions for charging a battery
US10226250B2 (en) 2015-02-27 2019-03-12 Ethicon Llc Modular stapling assembly
US10159483B2 (en) 2015-02-27 2018-12-25 Ethicon Llc Surgical apparatus configured to track an end-of-life parameter
US9931118B2 (en) 2015-02-27 2018-04-03 Ethicon Endo-Surgery, Llc Reinforced battery for a surgical instrument
US10045779B2 (en) 2015-02-27 2018-08-14 Ethicon Llc Surgical instrument system comprising an inspection station
US11324506B2 (en) 2015-02-27 2022-05-10 Cilag Gmbh International Modular stapling assembly
US10245028B2 (en) 2015-02-27 2019-04-02 Ethicon Llc Power adapter for a surgical instrument
US11744588B2 (en) 2015-02-27 2023-09-05 Cilag Gmbh International Surgical stapling instrument including a removably attachable battery pack
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10180463B2 (en) 2015-02-27 2019-01-15 Ethicon Llc Surgical apparatus configured to assess whether a performance parameter of the surgical apparatus is within an acceptable performance band
US9993258B2 (en) 2015-02-27 2018-06-12 Ethicon Llc Adaptable surgical instrument handle
US10321907B2 (en) 2015-02-27 2019-06-18 Ethicon Llc System for monitoring whether a surgical instrument needs to be serviced
US11224423B2 (en) 2015-03-06 2022-01-18 Cilag Gmbh International Smart sensors with local signal processing
US10548504B2 (en) 2015-03-06 2020-02-04 Ethicon Llc Overlaid multi sensor radio frequency (RF) electrode system to measure tissue compression
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10687806B2 (en) 2015-03-06 2020-06-23 Ethicon Llc Adaptive tissue compression techniques to adjust closure rates for multiple tissue types
US9895148B2 (en) 2015-03-06 2018-02-20 Ethicon Endo-Surgery, Llc Monitoring speed control and precision incrementing of motor for powered surgical instruments
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US11826132B2 (en) 2015-03-06 2023-11-28 Cilag Gmbh International Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US9901342B2 (en) 2015-03-06 2018-02-27 Ethicon Endo-Surgery, Llc Signal and power communication system positioned on a rotatable shaft
US11109859B2 (en) 2015-03-06 2021-09-07 Cilag Gmbh International Surgical instrument comprising a lockable battery housing
US10772625B2 (en) 2015-03-06 2020-09-15 Ethicon Llc Signal and power communication system positioned on a rotatable shaft
US10524787B2 (en) 2015-03-06 2020-01-07 Ethicon Llc Powered surgical instrument with parameter-based firing rate
US10531887B2 (en) 2015-03-06 2020-01-14 Ethicon Llc Powered surgical instrument including speed display
US10206605B2 (en) 2015-03-06 2019-02-19 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US11350843B2 (en) 2015-03-06 2022-06-07 Cilag Gmbh International Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US11426160B2 (en) 2015-03-06 2022-08-30 Cilag Gmbh International Smart sensors with local signal processing
US10045776B2 (en) 2015-03-06 2018-08-14 Ethicon Llc Control techniques and sub-processor contained within modular shaft with select control processing from handle
US9808246B2 (en) 2015-03-06 2017-11-07 Ethicon Endo-Surgery, Llc Method of operating a powered surgical instrument
US10966627B2 (en) 2015-03-06 2021-04-06 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10617412B2 (en) 2015-03-06 2020-04-14 Ethicon Llc System for detecting the mis-insertion of a staple cartridge into a surgical stapler
US9924961B2 (en) 2015-03-06 2018-03-27 Ethicon Endo-Surgery, Llc Interactive feedback system for powered surgical instruments
US10729432B2 (en) 2015-03-06 2020-08-04 Ethicon Llc Methods for operating a powered surgical instrument
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
US10342602B2 (en) 2015-03-17 2019-07-09 Ethicon Llc Managing tissue treatment
US10321950B2 (en) 2015-03-17 2019-06-18 Ethicon Llc Managing tissue treatment
US9918717B2 (en) 2015-03-18 2018-03-20 Covidien Lp Pivot mechanism for surgical device
US10595929B2 (en) 2015-03-24 2020-03-24 Ethicon Llc Surgical instruments with firing system overload protection mechanisms
US11369380B2 (en) 2015-03-25 2022-06-28 Cilag Gmbh International Method of applying a buttress to a surgical stapler
US10568621B2 (en) 2015-03-25 2020-02-25 Ethicon Llc Surgical staple buttress with integral adhesive for releasably attaching to a surgical stapler
US10349939B2 (en) 2015-03-25 2019-07-16 Ethicon Llc Method of applying a buttress to a surgical stapler
US10172617B2 (en) 2015-03-25 2019-01-08 Ethicon Llc Malleable bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10548593B2 (en) 2015-03-25 2020-02-04 Ethicon Llc Flowable bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10863984B2 (en) 2015-03-25 2020-12-15 Ethicon Llc Low inherent viscosity bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10478187B2 (en) 2015-03-25 2019-11-19 Ethicon Llc Biologically derived extracellular matrix with infused viscous absorbable copolymer for releasably attaching a staple buttress to a surgical stapler
US10172618B2 (en) 2015-03-25 2019-01-08 Ethicon Llc Low glass transition temperature bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US11759205B2 (en) 2015-03-25 2023-09-19 Cilag Gmbh International Low inherent viscosity bioabsorbable polymer adhesive for releasably attaching a staple buttress to a surgical stapler
US10136891B2 (en) 2015-03-25 2018-11-27 Ethicon Llc Naturally derived bioabsorbable polymer gel adhesive for releasably attaching a staple buttress to a surgical stapler
US11918212B2 (en) 2015-03-31 2024-03-05 Cilag Gmbh International Surgical instrument with selectively disengageable drive systems
US10213201B2 (en) 2015-03-31 2019-02-26 Ethicon Llc Stapling end effector configured to compensate for an uneven gap between a first jaw and a second jaw
US10390825B2 (en) * 2015-03-31 2019-08-27 Ethicon Llc Surgical instrument with progressive rotary drive systems
US10433844B2 (en) 2015-03-31 2019-10-08 Ethicon Llc Surgical instrument with selectively disengageable threaded drive systems
US20160287250A1 (en) * 2015-03-31 2016-10-06 Ethicon Endo-Surgery, Llc Surgical instrument with progressive rotary drive systems
US10314638B2 (en) 2015-04-07 2019-06-11 Ethicon Llc Articulating radio frequency (RF) tissue seal with articulating state sensing
US10463368B2 (en) 2015-04-10 2019-11-05 Covidien Lp Endoscopic stapler
US11426161B2 (en) 2015-04-10 2022-08-30 Covidien Lp Endoscopic stapler
US10299789B2 (en) 2015-05-05 2019-05-28 Covidie LP Adapter assembly for surgical stapling devices
US11147548B2 (en) 2015-05-05 2021-10-19 Covidien Lp Adapter assembly and loading units for surgical stapling devices
US10117650B2 (en) 2015-05-05 2018-11-06 Covidien Lp Adapter assembly and loading units for surgical stapling devices
US10039532B2 (en) 2015-05-06 2018-08-07 Covidien Lp Surgical instrument with articulation assembly
US10172615B2 (en) 2015-05-27 2019-01-08 Covidien Lp Multi-fire push rod stapling device
US10912564B2 (en) 2015-05-27 2021-02-09 Covidien Lp Multi-fire push rod stapling device
US11510674B2 (en) 2015-05-27 2022-11-29 Covidien Lp Multi-fire lead screw stapling device
US10349941B2 (en) 2015-05-27 2019-07-16 Covidien Lp Multi-fire lead screw stapling device
US11020140B2 (en) 2015-06-17 2021-06-01 Cilag Gmbh International Ultrasonic surgical blade for use with ultrasonic surgical instruments
US10052102B2 (en) 2015-06-18 2018-08-21 Ethicon Llc Surgical end effectors with dual cam actuated jaw closing features
US11141213B2 (en) 2015-06-30 2021-10-12 Cilag Gmbh International Surgical instrument with user adaptable techniques
US10898256B2 (en) 2015-06-30 2021-01-26 Ethicon Llc Surgical system with user adaptable techniques based on tissue impedance
US10765470B2 (en) 2015-06-30 2020-09-08 Ethicon Llc Surgical system with user adaptable techniques employing simultaneous energy modalities based on tissue parameters
US10357303B2 (en) 2015-06-30 2019-07-23 Ethicon Llc Translatable outer tube for sealing using shielded lap chole dissector
US10952788B2 (en) 2015-06-30 2021-03-23 Ethicon Llc Surgical instrument with user adaptable algorithms
US11903634B2 (en) 2015-06-30 2024-02-20 Cilag Gmbh International Surgical instrument with user adaptable techniques
US11129669B2 (en) 2015-06-30 2021-09-28 Cilag Gmbh International Surgical system with user adaptable techniques based on tissue type
US11051873B2 (en) 2015-06-30 2021-07-06 Cilag Gmbh International Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters
US11553954B2 (en) 2015-06-30 2023-01-17 Cilag Gmbh International Translatable outer tube for sealing using shielded lap chole dissector
US10154852B2 (en) 2015-07-01 2018-12-18 Ethicon Llc Ultrasonic surgical blade with improved cutting and coagulation features
US10548599B2 (en) 2015-07-20 2020-02-04 Covidien Lp Endoscopic stapler and staple
US11490893B2 (en) 2015-07-20 2022-11-08 Covidien Lp Endoscopic stapler and staple
US10729440B2 (en) 2015-07-21 2020-08-04 Covidien Lp Small diameter cartridge design for a surgical stapling instrument
US9987012B2 (en) 2015-07-21 2018-06-05 Covidien Lp Small diameter cartridge design for a surgical stapling instrument
US10314580B2 (en) 2015-07-28 2019-06-11 Ethicon Llc Surgical staple cartridge with compression feature at knife slot
US10194912B2 (en) 2015-07-28 2019-02-05 Ethicon Llc Surgical staple cartridge with outer edge compression features
US11166722B2 (en) 2015-07-28 2021-11-09 Cilag Gmbh International Surgical staple cartridge with compression feature at knife slot
US11033268B2 (en) 2015-07-29 2021-06-15 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US10064622B2 (en) 2015-07-29 2018-09-04 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US10881405B2 (en) 2015-07-30 2021-01-05 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US10045782B2 (en) 2015-07-30 2018-08-14 Covidien Lp Surgical stapling loading unit with stroke counter and lockout
US11337769B2 (en) 2015-07-31 2022-05-24 Globus Medical, Inc. Robot arm and methods of use
US11672622B2 (en) 2015-07-31 2023-06-13 Globus Medical, Inc. Robot arm and methods of use
US10925681B2 (en) 2015-07-31 2021-02-23 Globus Medical Inc. Robot arm and methods of use
US10321963B2 (en) * 2015-08-04 2019-06-18 Vanderbilt University Apparatus and method for moving an elongate rod
US11751950B2 (en) 2015-08-12 2023-09-12 Globus Medical Inc. Devices and methods for temporary mounting of parts to bone
US10786313B2 (en) 2015-08-12 2020-09-29 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
US10617418B2 (en) 2015-08-17 2020-04-14 Ethicon Llc Implantable layers for a surgical instrument
WO2017030826A1 (en) 2015-08-17 2017-02-23 Ethicon Endo-Surgery, Llc Implantable layers for a surgical instrument
US10835249B2 (en) 2015-08-17 2020-11-17 Ethicon Llc Implantable layers for a surgical instrument
US11058425B2 (en) 2015-08-17 2021-07-13 Ethicon Llc Implantable layers for a surgical instrument
US11045188B2 (en) 2015-08-24 2021-06-29 Cilag Gmbh International Method of applying a buttress to a surgical stapler end effector
US11801048B2 (en) 2015-08-24 2023-10-31 Cilag Gmbh International Method of applying a buttress to a surgical stapler end effector
US11039832B2 (en) 2015-08-24 2021-06-22 Cilag Gmbh International Surgical stapler buttress applicator with spent staple cartridge lockout
US11058419B2 (en) 2015-08-24 2021-07-13 Cilag Gmbh International Method of applying a buttress to a surgical stapler end effector
US10639039B2 (en) 2015-08-24 2020-05-05 Ethicon Llc Surgical stapler buttress applicator with multi-zone platform for pressure focused release
US11849940B2 (en) 2015-08-24 2023-12-26 Cilag Gmbh International Method of applying a buttress to a surgical stapler end effector
US11253253B2 (en) 2015-08-24 2022-02-22 Cilag Gmbh International Method of applying a buttress to a surgical stapler and effector
US10342532B2 (en) 2015-08-24 2019-07-09 Ethicon Llc Surgical stapler buttress applicator with multi-point actuated release mechanism
US11051806B2 (en) 2015-08-24 2021-07-06 Cilag Gmbh International Method of applying a buttress to a surgical stapler end effector
US10166023B2 (en) 2015-08-24 2019-01-01 Ethicon Llc Method of applying a buttress to a surgical stapler end effector
US10349940B2 (en) 2015-08-24 2019-07-16 Ethicon Llc Surgical stapler buttress applicator with state indicator
US10342542B2 (en) 2015-08-24 2019-07-09 Ethicon Llc Surgical stapler buttress applicator with end effector actuated release mechanism
US10470769B2 (en) 2015-08-26 2019-11-12 Ethicon Llc Staple cartridge assembly comprising staple alignment features on a firing member
US10517599B2 (en) 2015-08-26 2019-12-31 Ethicon Llc Staple cartridge assembly comprising staple cavities for providing better staple guidance
US10980538B2 (en) 2015-08-26 2021-04-20 Ethicon Llc Surgical stapling configurations for curved and circular stapling instruments
US10098642B2 (en) 2015-08-26 2018-10-16 Ethicon Llc Surgical staples comprising features for improved fastening of tissue
US10966724B2 (en) 2015-08-26 2021-04-06 Ethicon Llc Surgical staples comprising a guide
US10433845B2 (en) 2015-08-26 2019-10-08 Ethicon Llc Surgical staple strips for permitting varying staple properties and enabling easy cartridge loading
US11219456B2 (en) 2015-08-26 2022-01-11 Cilag Gmbh International Surgical staple strips for permitting varying staple properties and enabling easy cartridge loading
US10357251B2 (en) 2015-08-26 2019-07-23 Ethicon Llc Surgical staples comprising hardness variations for improved fastening of tissue
US10028744B2 (en) 2015-08-26 2018-07-24 Ethicon Llc Staple cartridge assembly including staple guides
US11103248B2 (en) 2015-08-26 2021-08-31 Cilag Gmbh International Surgical staples for minimizing staple roll
US11051817B2 (en) 2015-08-26 2021-07-06 Cilag Gmbh International Method for forming a staple against an anvil of a surgical stapling instrument
US11510675B2 (en) 2015-08-26 2022-11-29 Cilag Gmbh International Surgical end effector assembly including a connector strip interconnecting a plurality of staples
US11058426B2 (en) 2015-08-26 2021-07-13 Cilag Gmbh International Staple cartridge assembly comprising various tissue compression gaps and staple forming gaps
US10213203B2 (en) 2015-08-26 2019-02-26 Ethicon Llc Staple cartridge assembly without a bottom cover
US10390829B2 (en) 2015-08-26 2019-08-27 Ethicon Llc Staples comprising a cover
US10188394B2 (en) 2015-08-26 2019-01-29 Ethicon Llc Staples configured to support an implantable adjunct
US10166026B2 (en) 2015-08-26 2019-01-01 Ethicon Llc Staple cartridge assembly including features for controlling the rotation of staples when being ejected therefrom
US11872000B2 (en) 2015-08-31 2024-01-16 Globus Medical, Inc Robotic surgical systems and methods
US10238390B2 (en) 2015-09-02 2019-03-26 Ethicon Llc Surgical staple cartridges with driver arrangements for establishing herringbone staple patterns
US11213295B2 (en) 2015-09-02 2022-01-04 Cilag Gmbh International Surgical staple configurations with camming surfaces located between portions supporting surgical staples
US10251648B2 (en) 2015-09-02 2019-04-09 Ethicon Llc Surgical staple cartridge staple drivers with central support features
US11382624B2 (en) 2015-09-02 2022-07-12 Cilag Gmbh International Surgical staple cartridge with improved staple driver configurations
US10314587B2 (en) 2015-09-02 2019-06-11 Ethicon Llc Surgical staple cartridge with improved staple driver configurations
US11589868B2 (en) 2015-09-02 2023-02-28 Cilag Gmbh International Surgical staple configurations with camming surfaces located between portions supporting surgical staples
US10357252B2 (en) 2015-09-02 2019-07-23 Ethicon Llc Surgical staple configurations with camming surfaces located between portions supporting surgical staples
US10172619B2 (en) 2015-09-02 2019-01-08 Ethicon Llc Surgical staple driver arrays
US10973594B2 (en) 2015-09-14 2021-04-13 Globus Medical, Inc. Surgical robotic systems and methods thereof
US11324620B2 (en) 2015-09-16 2022-05-10 Standard Bariatrics, Inc. Systems and methods for measuring volume of potential sleeve in a sleeve gastrectomy
US10085751B2 (en) 2015-09-23 2018-10-02 Ethicon Llc Surgical stapler having temperature-based motor control
US10327769B2 (en) 2015-09-23 2019-06-25 Ethicon Llc Surgical stapler having motor control based on a drive system component
US11849946B2 (en) 2015-09-23 2023-12-26 Cilag Gmbh International Surgical stapler having downstream current-based motor control
US10863986B2 (en) 2015-09-23 2020-12-15 Ethicon Llc Surgical stapler having downstream current-based motor control
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US11344299B2 (en) 2015-09-23 2022-05-31 Cilag Gmbh International Surgical stapler having downstream current-based motor control
US11490889B2 (en) 2015-09-23 2022-11-08 Cilag Gmbh International Surgical stapler having motor control based on an electrical parameter related to a motor current
US11026678B2 (en) 2015-09-23 2021-06-08 Cilag Gmbh International Surgical stapler having motor control based on an electrical parameter related to a motor current
US10363036B2 (en) 2015-09-23 2019-07-30 Ethicon Llc Surgical stapler having force-based motor control
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10076326B2 (en) 2015-09-23 2018-09-18 Ethicon Llc Surgical stapler having current mirror-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US11076929B2 (en) 2015-09-25 2021-08-03 Cilag Gmbh International Implantable adjunct systems for determining adjunct skew
WO2017058603A2 (en) 2015-09-30 2017-04-06 Ethicon Endo-Surgery, Llc Compressible adjunct with attachment regions
US11559347B2 (en) 2015-09-30 2023-01-24 Cilag Gmbh International Techniques for circuit topologies for combined generator
WO2017058599A1 (en) 2015-09-30 2017-04-06 Ethicon Endo-Surgery, Llc Compressible adjunct assemblies with attachment layers
US10433846B2 (en) 2015-09-30 2019-10-08 Ethicon Llc Compressible adjunct with crossing spacer fibers
US10624691B2 (en) 2015-09-30 2020-04-21 Ethicon Llc Techniques for operating generator for digitally generating electrical signal waveforms and surgical instruments
US10751108B2 (en) 2015-09-30 2020-08-25 Ethicon Llc Protection techniques for generator for digitally generating electrosurgical and ultrasonic electrical signal waveforms
US10610286B2 (en) 2015-09-30 2020-04-07 Ethicon Llc Techniques for circuit topologies for combined generator
US10932779B2 (en) 2015-09-30 2021-03-02 Ethicon Llc Compressible adjunct with crossing spacer fibers
US10172620B2 (en) 2015-09-30 2019-01-08 Ethicon Llc Compressible adjuncts with bonding nodes
US10327777B2 (en) 2015-09-30 2019-06-25 Ethicon Llc Implantable layer comprising plastically deformed fibers
US11766287B2 (en) 2015-09-30 2023-09-26 Cilag Gmbh International Methods for operating generator for digitally generating electrical signal waveforms and surgical instruments
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10561420B2 (en) 2015-09-30 2020-02-18 Ethicon Llc Tubular absorbable constructs
US11793522B2 (en) 2015-09-30 2023-10-24 Cilag Gmbh International Staple cartridge assembly including a compressible adjunct
US10478188B2 (en) 2015-09-30 2019-11-19 Ethicon Llc Implantable layer comprising a constricted configuration
US11903586B2 (en) 2015-09-30 2024-02-20 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10736685B2 (en) 2015-09-30 2020-08-11 Ethicon Llc Generator for digitally generating combined electrical signal waveforms for ultrasonic surgical instruments
US10524788B2 (en) 2015-09-30 2020-01-07 Ethicon Llc Compressible adjunct with attachment regions
US10603039B2 (en) 2015-09-30 2020-03-31 Ethicon Llc Progressively releasable implantable adjunct for use with a surgical stapling instrument
US11033322B2 (en) 2015-09-30 2021-06-15 Ethicon Llc Circuit topologies for combined generator
US10980539B2 (en) 2015-09-30 2021-04-20 Ethicon Llc Implantable adjunct comprising bonded layers
US10736633B2 (en) 2015-09-30 2020-08-11 Ethicon Llc Compressible adjunct with looping members
US11690623B2 (en) 2015-09-30 2023-07-04 Cilag Gmbh International Method for applying an implantable layer to a fastener cartridge
US11058475B2 (en) 2015-09-30 2021-07-13 Cilag Gmbh International Method and apparatus for selecting operations of a surgical instrument based on user intention
US11553916B2 (en) 2015-09-30 2023-01-17 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10285699B2 (en) 2015-09-30 2019-05-14 Ethicon Llc Compressible adjunct
US10307160B2 (en) 2015-09-30 2019-06-04 Ethicon Llc Compressible adjunct assemblies with attachment layers
US10271849B2 (en) 2015-09-30 2019-04-30 Ethicon Llc Woven constructs with interlocked standing fibers
US10194973B2 (en) 2015-09-30 2019-02-05 Ethicon Llc Generator for digitally generating electrical signal waveforms for electrosurgical and ultrasonic surgical instruments
US11712244B2 (en) 2015-09-30 2023-08-01 Cilag Gmbh International Implantable layer with spacer fibers
US10687884B2 (en) 2015-09-30 2020-06-23 Ethicon Llc Circuits for supplying isolated direct current (DC) voltage to surgical instruments
US10213204B2 (en) 2015-10-02 2019-02-26 Covidien Lp Micro surgical instrument and loading unit for use therewith
US11058427B2 (en) 2015-10-02 2021-07-13 Covidien Lp Micro surgical instrument and loading unit for use therewith
US10569794B2 (en) 2015-10-13 2020-02-25 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US11066090B2 (en) 2015-10-13 2021-07-20 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US10342535B2 (en) 2015-10-15 2019-07-09 Ethicon Llc Method of applying staples to liver and other organs
US10226251B2 (en) 2015-10-15 2019-03-12 Ethicon Llc Surgical staple actuating sled with actuation stroke having minimized distance relative to distal staple
US10952730B2 (en) 2015-10-15 2021-03-23 Ethicon Llc End effector for surgical stapler with varying curve and taper
US10265073B2 (en) 2015-10-15 2019-04-23 Ethicon Llc Surgical stapler with terminal staple orientation crossing center line
US11141159B2 (en) 2015-10-15 2021-10-12 Cilag Gmbh International Surgical stapler end effector with multi-staple driver crossing center line
US10265069B2 (en) 2015-10-15 2019-04-23 Ethicon Llc Surgical staple cartridge with varying staple crown width along a curve
US10499917B2 (en) 2015-10-15 2019-12-10 Ethicon Llc Surgical stapler end effector with knife position indicators
US11382621B2 (en) 2015-10-15 2022-07-12 Cilag Gmbh International Method of applying staples to liver and other organs
US10595930B2 (en) 2015-10-16 2020-03-24 Ethicon Llc Electrode wiping surgical device
US10959771B2 (en) 2015-10-16 2021-03-30 Ethicon Llc Suction and irrigation sealing grasper
US11666375B2 (en) 2015-10-16 2023-06-06 Cilag Gmbh International Electrode wiping surgical device
US10772632B2 (en) 2015-10-28 2020-09-15 Covidien Lp Surgical stapling device with triple leg staples
US10357248B2 (en) 2015-10-29 2019-07-23 Ethicon Llc Extensible buttress assembly for surgical stapler
US10314588B2 (en) 2015-10-29 2019-06-11 Ethicon Llc Fluid penetrable buttress assembly for a surgical stapler
US10238388B2 (en) 2015-10-29 2019-03-26 Ethicon Llc Surgical stapler buttress assembly with humidity tolerant adhesive
US11793515B2 (en) 2015-10-29 2023-10-24 Cilag Gmbh International Surgical stapler buttress assembly with adhesion to wet end effector
US10085745B2 (en) 2015-10-29 2018-10-02 Ethicon Llc Extensible buttress assembly for surgical stapler
US11234699B2 (en) 2015-10-29 2022-02-01 Cilag Gmbh International Surgical stapler buttress assembly with adhesion to wet end effector
US10517592B2 (en) 2015-10-29 2019-12-31 Ethicon Llc Surgical stapler buttress assembly with adhesion to wet end effector
US10251649B2 (en) 2015-10-29 2019-04-09 Ethicon Llc Surgical stapler buttress applicator with data communication
US10441286B2 (en) 2015-10-29 2019-10-15 Ethicon Llc Multi-layer surgical stapler buttress assembly
US10499918B2 (en) 2015-10-29 2019-12-10 Ethicon Llc Surgical stapler buttress assembly with features to interact with movable end effector components
US10433839B2 (en) 2015-10-29 2019-10-08 Ethicon Llc Surgical stapler buttress assembly with gel adhesive retainer
US10595864B2 (en) 2015-11-24 2020-03-24 Covidien Lp Adapter assembly for interconnecting electromechanical surgical devices and surgical loading units, and surgical systems thereof
US10111660B2 (en) 2015-12-03 2018-10-30 Covidien Lp Surgical stapler flexible distal tip
US10835242B2 (en) 2015-12-03 2020-11-17 Covidien Lp Surgical stapler flexible distal tip
US11759208B2 (en) 2015-12-30 2023-09-19 Cilag Gmbh International Mechanisms for compensating for battery pack failure in powered surgical instruments
US11083454B2 (en) 2015-12-30 2021-08-10 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11484309B2 (en) 2015-12-30 2022-11-01 Cilag Gmbh International Surgical stapling system comprising a controller configured to cause a motor to reset a firing sequence
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10959806B2 (en) 2015-12-30 2021-03-30 Ethicon Llc Energized medical device with reusable handle
US11129613B2 (en) 2015-12-30 2021-09-28 Cilag Gmbh International Surgical instruments with separable motors and motor control circuits
US11058422B2 (en) 2015-12-30 2021-07-13 Cilag Gmbh International Mechanisms for compensating for battery pack failure in powered surgical instruments
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
US10179022B2 (en) 2015-12-30 2019-01-15 Ethicon Llc Jaw position impedance limiter for electrosurgical instrument
US10575892B2 (en) 2015-12-31 2020-03-03 Ethicon Llc Adapter for electrical surgical instruments
US10966717B2 (en) 2016-01-07 2021-04-06 Covidien Lp Surgical fastener apparatus
US10251664B2 (en) 2016-01-15 2019-04-09 Ethicon Llc Modular battery powered handheld surgical instrument with multi-function motor via shifting gear assembly
US10828058B2 (en) 2016-01-15 2020-11-10 Ethicon Llc Modular battery powered handheld surgical instrument with motor control limits based on tissue characterization
US10716615B2 (en) 2016-01-15 2020-07-21 Ethicon Llc Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade
US10709469B2 (en) 2016-01-15 2020-07-14 Ethicon Llc Modular battery powered handheld surgical instrument with energy conservation techniques
US11684402B2 (en) 2016-01-15 2023-06-27 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US11051840B2 (en) 2016-01-15 2021-07-06 Ethicon Llc Modular battery powered handheld surgical instrument with reusable asymmetric handle housing
US11229471B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US11134978B2 (en) 2016-01-15 2021-10-05 Cilag Gmbh International Modular battery powered handheld surgical instrument with self-diagnosing control switches for reusable handle assembly
US11058448B2 (en) 2016-01-15 2021-07-13 Cilag Gmbh International Modular battery powered handheld surgical instrument with multistage generator circuits
US10537351B2 (en) 2016-01-15 2020-01-21 Ethicon Llc Modular battery powered handheld surgical instrument with variable motor control limits
US11229450B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with motor drive
US11751929B2 (en) 2016-01-15 2023-09-12 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US10842523B2 (en) 2016-01-15 2020-11-24 Ethicon Llc Modular battery powered handheld surgical instrument and methods therefor
US11896280B2 (en) 2016-01-15 2024-02-13 Cilag Gmbh International Clamp arm comprising a circuit
US10299821B2 (en) 2016-01-15 2019-05-28 Ethicon Llc Modular battery powered handheld surgical instrument with motor control limit profile
US10660623B2 (en) 2016-01-15 2020-05-26 Covidien Lp Centering mechanism for articulation joint
US11129670B2 (en) 2016-01-15 2021-09-28 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization
US10779849B2 (en) 2016-01-15 2020-09-22 Ethicon Llc Modular battery powered handheld surgical instrument with voltage sag resistant battery pack
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US11801022B2 (en) 2016-02-03 2023-10-31 Globus Medical, Inc. Portable medical imaging system
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US10687779B2 (en) 2016-02-03 2020-06-23 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US11523784B2 (en) 2016-02-03 2022-12-13 Globus Medical, Inc. Portable medical imaging system
US10849580B2 (en) 2016-02-03 2020-12-01 Globus Medical Inc. Portable medical imaging system
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10245029B2 (en) 2016-02-09 2019-04-02 Ethicon Llc Surgical instrument with articulating and axially translatable end effector
US10588625B2 (en) 2016-02-09 2020-03-17 Ethicon Llc Articulatable surgical instruments with off-axis firing beam arrangements
US11730471B2 (en) 2016-02-09 2023-08-22 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
US10653413B2 (en) 2016-02-09 2020-05-19 Ethicon Llc Surgical instruments with an end effector that is highly articulatable relative to an elongate shaft assembly
US10245030B2 (en) 2016-02-09 2019-04-02 Ethicon Llc Surgical instruments with tensioning arrangements for cable driven articulation systems
US11523823B2 (en) 2016-02-09 2022-12-13 Cilag Gmbh International Surgical instruments with non-symmetrical articulation arrangements
US10413291B2 (en) 2016-02-09 2019-09-17 Ethicon Llc Surgical instrument articulation mechanism with slotted secondary constraint
US10433837B2 (en) 2016-02-09 2019-10-08 Ethicon Llc Surgical instruments with multiple link articulation arrangements
US10470764B2 (en) 2016-02-09 2019-11-12 Ethicon Llc Surgical instruments with closure stroke reduction arrangements
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
US11439389B2 (en) 2016-02-10 2022-09-13 Covidien Lp Surgical stapler with articulation locking mechanism
US10349937B2 (en) 2016-02-10 2019-07-16 Covidien Lp Surgical stapler with articulation locking mechanism
US10966716B2 (en) 2016-02-10 2021-04-06 Covidien Lp Surgical stapler with articulation locking mechanism
US11457920B2 (en) 2016-02-11 2022-10-04 Covidien Lp Surgical stapler with small diameter endoscopic portion
US10420559B2 (en) 2016-02-11 2019-09-24 Covidien Lp Surgical stapler with small diameter endoscopic portion
US11779336B2 (en) 2016-02-12 2023-10-10 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10258331B2 (en) 2016-02-12 2019-04-16 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11826045B2 (en) 2016-02-12 2023-11-28 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11344303B2 (en) 2016-02-12 2022-05-31 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US11202670B2 (en) 2016-02-22 2021-12-21 Cilag Gmbh International Method of manufacturing a flexible circuit electrode for electrosurgical instrument
US10555769B2 (en) 2016-02-22 2020-02-11 Ethicon Llc Flexible circuits for electrosurgical instrument
US11920957B2 (en) 2016-03-14 2024-03-05 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
US11668588B2 (en) 2016-03-14 2023-06-06 Globus Medical Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
US10542991B2 (en) 2016-04-01 2020-01-28 Ethicon Llc Surgical stapling system comprising a jaw attachment lockout
US10456140B2 (en) 2016-04-01 2019-10-29 Ethicon Llc Surgical stapling system comprising an unclamping lockout
US10357246B2 (en) 2016-04-01 2019-07-23 Ethicon Llc Rotary powered surgical instrument with manually actuatable bailout system
US10420552B2 (en) 2016-04-01 2019-09-24 Ethicon Llc Surgical stapling system configured to provide selective cutting of tissue
US10675021B2 (en) 2016-04-01 2020-06-09 Ethicon Llc Circular stapling system comprising rotary firing system
US11766257B2 (en) 2016-04-01 2023-09-26 Cilag Gmbh International Surgical instrument comprising a display
US10856867B2 (en) 2016-04-01 2020-12-08 Ethicon Llc Surgical stapling system comprising a tissue compression lockout
US10485542B2 (en) 2016-04-01 2019-11-26 Ethicon Llc Surgical stapling instrument comprising multiple lockouts
US10376263B2 (en) 2016-04-01 2019-08-13 Ethicon Llc Anvil modification members for surgical staplers
US10478190B2 (en) 2016-04-01 2019-11-19 Ethicon Llc Surgical stapling system comprising a spent cartridge lockout
US10433849B2 (en) 2016-04-01 2019-10-08 Ethicon Llc Surgical stapling system comprising a display including a re-orientable display field
US10617413B2 (en) 2016-04-01 2020-04-14 Ethicon Llc Closure system arrangements for surgical cutting and stapling devices with separate and distinct firing shafts
US10413297B2 (en) 2016-04-01 2019-09-17 Ethicon Llc Surgical stapling system configured to apply annular rows of staples having different heights
US11064997B2 (en) 2016-04-01 2021-07-20 Cilag Gmbh International Surgical stapling instrument
US10531874B2 (en) 2016-04-01 2020-01-14 Ethicon Llc Surgical cutting and stapling end effector with anvil concentric drive member
US10314582B2 (en) 2016-04-01 2019-06-11 Ethicon Llc Surgical instrument comprising a shifting mechanism
US11284890B2 (en) 2016-04-01 2022-03-29 Cilag Gmbh International Circular stapling system comprising an incisable tissue support
US11058421B2 (en) 2016-04-01 2021-07-13 Cilag Gmbh International Modular surgical stapling system comprising a display
US10709446B2 (en) 2016-04-01 2020-07-14 Ethicon Llc Staple cartridges with atraumatic features
US10682136B2 (en) 2016-04-01 2020-06-16 Ethicon Llc Circular stapling system comprising load control
US10568632B2 (en) 2016-04-01 2020-02-25 Ethicon Llc Surgical stapling system comprising a jaw closure lockout
US10271851B2 (en) 2016-04-01 2019-04-30 Ethicon Llc Modular surgical stapling system comprising a display
US10285705B2 (en) 2016-04-01 2019-05-14 Ethicon Llc Surgical stapling system comprising a grooved forming pocket
US11337694B2 (en) 2016-04-01 2022-05-24 Cilag Gmbh International Surgical cutting and stapling end effector with anvil concentric drive member
US10342543B2 (en) 2016-04-01 2019-07-09 Ethicon Llc Surgical stapling system comprising a shiftable transmission
US10413293B2 (en) 2016-04-01 2019-09-17 Ethicon Llc Interchangeable surgical tool assembly with a surgical end effector that is selectively rotatable about a shaft axis
US11045191B2 (en) 2016-04-01 2021-06-29 Cilag Gmbh International Method for operating a surgical stapling system
US10307159B2 (en) 2016-04-01 2019-06-04 Ethicon Llc Surgical instrument handle assembly with reconfigurable grip portion
US11051810B2 (en) 2016-04-15 2021-07-06 Cilag Gmbh International Modular surgical instrument with configurable operating mode
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US11642125B2 (en) 2016-04-15 2023-05-09 Cilag Gmbh International Robotic surgical system including a user interface and a control circuit
US11517306B2 (en) 2016-04-15 2022-12-06 Cilag Gmbh International Surgical instrument with detection sensors
US10405859B2 (en) 2016-04-15 2019-09-10 Ethicon Llc Surgical instrument with adjustable stop/start control during a firing motion
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11350932B2 (en) 2016-04-15 2022-06-07 Cilag Gmbh International Surgical instrument with improved stop/start control during a firing motion
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US11026684B2 (en) 2016-04-15 2021-06-08 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11311292B2 (en) 2016-04-15 2022-04-26 Cilag Gmbh International Surgical instrument with detection sensors
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US11317910B2 (en) 2016-04-15 2022-05-03 Cilag Gmbh International Surgical instrument with detection sensors
US11284891B2 (en) 2016-04-15 2022-03-29 Cilag Gmbh International Surgical instrument with multiple program responses during a firing motion
US11771454B2 (en) 2016-04-15 2023-10-03 Cilag Gmbh International Stapling assembly including a controller for monitoring a clamping laod
US11191545B2 (en) 2016-04-15 2021-12-07 Cilag Gmbh International Staple formation detection mechanisms
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US10426469B2 (en) 2016-04-18 2019-10-01 Ethicon Llc Surgical instrument comprising a primary firing lockout and a secondary firing lockout
US10368867B2 (en) 2016-04-18 2019-08-06 Ethicon Llc Surgical instrument comprising a lockout
US11350928B2 (en) 2016-04-18 2022-06-07 Cilag Gmbh International Surgical instrument comprising a tissue thickness lockout and speed control system
US10363037B2 (en) 2016-04-18 2019-07-30 Ethicon Llc Surgical instrument system comprising a magnetic lockout
US11811253B2 (en) 2016-04-18 2023-11-07 Cilag Gmbh International Surgical robotic system with fault state detection configurations based on motor current draw
US10433840B2 (en) 2016-04-18 2019-10-08 Ethicon Llc Surgical instrument comprising a replaceable cartridge jaw
US11559303B2 (en) 2016-04-18 2023-01-24 Cilag Gmbh International Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments
US11147554B2 (en) 2016-04-18 2021-10-19 Cilag Gmbh International Surgical instrument system comprising a magnetic lockout
US10478181B2 (en) 2016-04-18 2019-11-19 Ethicon Llc Cartridge lockout arrangements for rotary powered surgical cutting and stapling instruments
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US10258337B2 (en) 2016-04-20 2019-04-16 Ethicon Llc Surgical staple cartridge with severed tissue edge adjunct
US10653420B2 (en) 2016-04-20 2020-05-19 Ethicon Llc Compliant compensation features for end effector of surgical stapling instrument
US10285700B2 (en) 2016-04-20 2019-05-14 Ethicon Llc Surgical staple cartridge with hydraulic staple deployment
US10363032B2 (en) 2016-04-20 2019-07-30 Ethicon Llc Surgical stapler with hydraulic deck control
US10856934B2 (en) 2016-04-29 2020-12-08 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting and tissue engaging members
US10485607B2 (en) 2016-04-29 2019-11-26 Ethicon Llc Jaw structure with distal closure for electrosurgical instruments
US10987156B2 (en) 2016-04-29 2021-04-27 Ethicon Llc Electrosurgical instrument with electrically conductive gap setting member and electrically insulative tissue engaging members
US10646269B2 (en) 2016-04-29 2020-05-12 Ethicon Llc Non-linear jaw gap for electrosurgical instruments
US10702329B2 (en) 2016-04-29 2020-07-07 Ethicon Llc Jaw structure with distal post for electrosurgical instruments
US10456193B2 (en) 2016-05-03 2019-10-29 Ethicon Llc Medical device with a bilateral jaw configuration for nerve stimulation
US11864820B2 (en) 2016-05-03 2024-01-09 Cilag Gmbh International Medical device with a bilateral jaw configuration for nerve stimulation
US10561419B2 (en) 2016-05-04 2020-02-18 Covidien Lp Powered end effector assembly with pivotable channel
US11065022B2 (en) 2016-05-17 2021-07-20 Covidien Lp Cutting member for a surgical instrument
US11000278B2 (en) 2016-06-24 2021-05-11 Ethicon Llc Staple cartridge comprising wire staples and stamped staples
USD826405S1 (en) 2016-06-24 2018-08-21 Ethicon Llc Surgical fastener
USD894389S1 (en) 2016-06-24 2020-08-25 Ethicon Llc Surgical fastener
USD896379S1 (en) 2016-06-24 2020-09-15 Ethicon Llc Surgical fastener cartridge
US10542979B2 (en) 2016-06-24 2020-01-28 Ethicon Llc Stamped staples and staple cartridges using the same
US11690619B2 (en) 2016-06-24 2023-07-04 Cilag Gmbh International Staple cartridge comprising staples having different geometries
USD850617S1 (en) 2016-06-24 2019-06-04 Ethicon Llc Surgical fastener cartridge
US11786246B2 (en) 2016-06-24 2023-10-17 Cilag Gmbh International Stapling system for use with wire staples and stamped staples
USD847989S1 (en) 2016-06-24 2019-05-07 Ethicon Llc Surgical fastener cartridge
US10675024B2 (en) 2016-06-24 2020-06-09 Ethicon Llc Staple cartridge comprising overdriven staples
US10702270B2 (en) 2016-06-24 2020-07-07 Ethicon Llc Stapling system for use with wire staples and stamped staples
US10893863B2 (en) 2016-06-24 2021-01-19 Ethicon Llc Staple cartridge comprising offset longitudinal staple rows
USD896380S1 (en) 2016-06-24 2020-09-15 Ethicon Llc Surgical fastener cartridge
USD822206S1 (en) 2016-06-24 2018-07-03 Ethicon Llc Surgical fastener
USD948043S1 (en) 2016-06-24 2022-04-05 Cilag Gmbh International Surgical fastener
US11883055B2 (en) 2016-07-12 2024-01-30 Cilag Gmbh International Ultrasonic surgical instrument with piezoelectric central lumen transducer
US10245064B2 (en) 2016-07-12 2019-04-02 Ethicon Llc Ultrasonic surgical instrument with piezoelectric central lumen transducer
US10966744B2 (en) 2016-07-12 2021-04-06 Ethicon Llc Ultrasonic surgical instrument with piezoelectric central lumen transducer
US10499912B2 (en) 2016-07-13 2019-12-10 Ethicon Llc Apparatus for hydraulic assisted fracture of liver parenchyma
US10893883B2 (en) 2016-07-13 2021-01-19 Ethicon Llc Ultrasonic assembly for use with ultrasonic surgical instruments
US11864851B2 (en) 2016-07-14 2024-01-09 Intuitive Surgical Operations, Inc. Geared roll drive for medical instrument
US11007024B2 (en) 2016-07-14 2021-05-18 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11744656B2 (en) 2016-07-14 2023-09-05 Intuitive Surgical Operations, Inc. Geared grip actuation for medical instruments
US11207145B2 (en) 2016-07-14 2021-12-28 Intuitive Surgical Operations, Inc. Multi-cable medical instrument
US11805975B2 (en) 2016-07-14 2023-11-07 Intuitive Surgical Operations, Inc. Instrument flushing system
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
US11000345B2 (en) 2016-07-14 2021-05-11 Intuitive Surgical Operations, Inc. Instrument flushing system
US11517397B2 (en) 2016-07-14 2022-12-06 Intuitive Surgical Operations, Inc. Instrument flushing system
US10842522B2 (en) 2016-07-15 2020-11-24 Ethicon Llc Ultrasonic surgical instruments having offset blades
US10376305B2 (en) 2016-08-05 2019-08-13 Ethicon Llc Methods and systems for advanced harmonic energy
US11344362B2 (en) 2016-08-05 2022-05-31 Cilag Gmbh International Methods and systems for advanced harmonic energy
US10285723B2 (en) 2016-08-09 2019-05-14 Ethicon Llc Ultrasonic surgical blade with improved heel portion
USD924400S1 (en) 2016-08-16 2021-07-06 Cilag Gmbh International Surgical instrument
USD847990S1 (en) 2016-08-16 2019-05-07 Ethicon Llc Surgical instrument
US10952759B2 (en) 2016-08-25 2021-03-23 Ethicon Llc Tissue loading of a surgical instrument
US11350959B2 (en) 2016-08-25 2022-06-07 Cilag Gmbh International Ultrasonic transducer techniques for ultrasonic surgical instrument
US10420580B2 (en) 2016-08-25 2019-09-24 Ethicon Llc Ultrasonic transducer for surgical instrument
US11925378B2 (en) 2016-08-25 2024-03-12 Cilag Gmbh International Ultrasonic transducer for surgical instrument
US10779847B2 (en) 2016-08-25 2020-09-22 Ethicon Llc Ultrasonic transducer to waveguide joining
US10751117B2 (en) 2016-09-23 2020-08-25 Ethicon Llc Electrosurgical instrument with fluid diverter
US11839422B2 (en) 2016-09-23 2023-12-12 Cilag Gmbh International Electrosurgical instrument with fluid diverter
US11224487B2 (en) * 2016-09-23 2022-01-18 Us Patent Innovations, Llc Robotic surgical system
US11771429B2 (en) 2016-11-04 2023-10-03 Covidien Lp Surgical stapling apparatus with tissue pockets
US10631857B2 (en) 2016-11-04 2020-04-28 Covidien Lp Loading unit for surgical instruments with low profile pushers
US11317918B2 (en) 2016-11-04 2022-05-03 Covidien Lp Loading unit for surgical instruments with low profile pushers
US11642126B2 (en) 2016-11-04 2023-05-09 Covidien Lp Surgical stapling apparatus with tissue pockets
US11534161B2 (en) 2016-11-08 2022-12-27 Covidien Lp Surgical tool assembly with compact firing assembly
US10492784B2 (en) 2016-11-08 2019-12-03 Covidien Lp Surgical tool assembly with compact firing assembly
US11191541B2 (en) 2016-11-14 2021-12-07 Cilag Gmbh International Atraumatic stapling head features for circular surgical stapler
US11191542B2 (en) 2016-11-14 2021-12-07 Cilag Gmbh International Atraumatic stapling head features for circular surgical stapler
US11903584B2 (en) 2016-11-14 2024-02-20 Cilag Gmbh International Atraumatic stapling head features for circular surgical stapler
US11241290B2 (en) 2016-11-21 2022-02-08 Intuitive Surgical Operations, Inc. Cable length conserving medical instrument
US10603064B2 (en) 2016-11-28 2020-03-31 Ethicon Llc Ultrasonic transducer
US10463371B2 (en) 2016-11-29 2019-11-05 Covidien Lp Reload assembly with spent reload indicator
US11266430B2 (en) 2016-11-29 2022-03-08 Cilag Gmbh International End effector control and calibration
US11324505B2 (en) 2016-11-29 2022-05-10 Covidien Lp Reload assembly with spent reload indicator
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US10813638B2 (en) 2016-12-21 2020-10-27 Ethicon Llc Surgical end effectors with expandable tissue stop arrangements
US10973516B2 (en) 2016-12-21 2021-04-13 Ethicon Llc Surgical end effectors and adaptable firing members therefor
US10980536B2 (en) 2016-12-21 2021-04-20 Ethicon Llc No-cartridge and spent cartridge lockout arrangements for surgical staplers
US10881401B2 (en) 2016-12-21 2021-01-05 Ethicon Llc Staple firing member comprising a missing cartridge and/or spent cartridge lockout
US10492785B2 (en) 2016-12-21 2019-12-03 Ethicon Llc Shaft assembly comprising a lockout
US10499914B2 (en) 2016-12-21 2019-12-10 Ethicon Llc Staple forming pocket arrangements
US11350934B2 (en) 2016-12-21 2022-06-07 Cilag Gmbh International Staple forming pocket arrangement to accommodate different types of staples
US11191540B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Protective cover arrangements for a joint interface between a movable jaw and actuator shaft of a surgical instrument
US10779823B2 (en) 2016-12-21 2020-09-22 Ethicon Llc Firing member pin angle
US11191539B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Shaft assembly comprising a manually-operable retraction system for use with a motorized surgical instrument system
US11191543B2 (en) 2016-12-21 2021-12-07 Cilag Gmbh International Assembly comprising a lock
US11350935B2 (en) 2016-12-21 2022-06-07 Cilag Gmbh International Surgical tool assemblies with closure stroke reduction features
US10959727B2 (en) 2016-12-21 2021-03-30 Ethicon Llc Articulatable surgical end effector with asymmetric shaft arrangement
US11701115B2 (en) 2016-12-21 2023-07-18 Cilag Gmbh International Methods of stapling tissue
US10835247B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Lockout arrangements for surgical end effectors
US11571210B2 (en) 2016-12-21 2023-02-07 Cilag Gmbh International Firing assembly comprising a multiple failed-state fuse
US11369376B2 (en) 2016-12-21 2022-06-28 Cilag Gmbh International Surgical stapling systems
US10517596B2 (en) 2016-12-21 2019-12-31 Ethicon Llc Articulatable surgical instruments with articulation stroke amplification features
US10485543B2 (en) 2016-12-21 2019-11-26 Ethicon Llc Anvil having a knife slot width
US10888322B2 (en) 2016-12-21 2021-01-12 Ethicon Llc Surgical instrument comprising a cutting member
US10993715B2 (en) 2016-12-21 2021-05-04 Ethicon Llc Staple cartridge comprising staples with different clamping breadths
US10517595B2 (en) 2016-12-21 2019-12-31 Ethicon Llc Jaw actuated lock arrangements for preventing advancement of a firing member in a surgical end effector unless an unfired cartridge is installed in the end effector
US10695055B2 (en) 2016-12-21 2020-06-30 Ethicon Llc Firing assembly comprising a lockout
US11224428B2 (en) 2016-12-21 2022-01-18 Cilag Gmbh International Surgical stapling systems
US10687810B2 (en) 2016-12-21 2020-06-23 Ethicon Llc Stepped staple cartridge with tissue retention and gap setting features
US11564688B2 (en) 2016-12-21 2023-01-31 Cilag Gmbh International Robotic surgical tool having a retraction mechanism
US10835245B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot
US10736629B2 (en) 2016-12-21 2020-08-11 Ethicon Llc Surgical tool assemblies with clutching arrangements for shifting between closure systems with closure stroke reduction features and articulation and firing systems
US10687809B2 (en) 2016-12-21 2020-06-23 Ethicon Llc Surgical staple cartridge with movable camming member configured to disengage firing member lockout features
US11179155B2 (en) 2016-12-21 2021-11-23 Cilag Gmbh International Anvil arrangements for surgical staplers
US11317913B2 (en) 2016-12-21 2022-05-03 Cilag Gmbh International Lockout arrangements for surgical end effectors and replaceable tool assemblies
US10682138B2 (en) 2016-12-21 2020-06-16 Ethicon Llc Bilaterally asymmetric staple forming pocket pairs
US10426471B2 (en) 2016-12-21 2019-10-01 Ethicon Llc Surgical instrument with multiple failure response modes
US11684367B2 (en) 2016-12-21 2023-06-27 Cilag Gmbh International Stepped assembly having and end-of-life indicator
US11096689B2 (en) 2016-12-21 2021-08-24 Cilag Gmbh International Shaft assembly comprising a lockout
US10675025B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Shaft assembly comprising separately actuatable and retractable systems
US11000276B2 (en) 2016-12-21 2021-05-11 Ethicon Llc Stepped staple cartridge with asymmetrical staples
US10675026B2 (en) 2016-12-21 2020-06-09 Ethicon Llc Methods of stapling tissue
US10905422B2 (en) 2016-12-21 2021-02-02 Ethicon Llc Surgical instrument for use with a robotic surgical system
US10856868B2 (en) 2016-12-21 2020-12-08 Ethicon Llc Firing member pin configurations
US10667809B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Staple cartridge and staple cartridge channel comprising windows defined therein
US10667810B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Closure members with cam surface arrangements for surgical instruments with separate and distinct closure and firing systems
US10524789B2 (en) 2016-12-21 2020-01-07 Ethicon Llc Laterally actuatable articulation lock arrangements for locking an end effector of a surgical instrument in an articulated configuration
US10537324B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Stepped staple cartridge with asymmetrical staples
US10537325B2 (en) 2016-12-21 2020-01-21 Ethicon Llc Staple forming pocket arrangement to accommodate different types of staples
US11918215B2 (en) 2016-12-21 2024-03-05 Cilag Gmbh International Staple cartridge with array of staple pockets
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US10667811B2 (en) 2016-12-21 2020-06-02 Ethicon Llc Surgical stapling instruments and staple-forming anvils
US10945727B2 (en) 2016-12-21 2021-03-16 Ethicon Llc Staple cartridge with deformable driver retention features
US11090048B2 (en) 2016-12-21 2021-08-17 Cilag Gmbh International Method for resetting a fuse of a surgical instrument shaft
US10639035B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US10542982B2 (en) 2016-12-21 2020-01-28 Ethicon Llc Shaft assembly comprising first and second articulation lockouts
US10893864B2 (en) 2016-12-21 2021-01-19 Ethicon Staple cartridges and arrangements of staples and staple cavities therein
US10639034B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical instruments with lockout arrangements for preventing firing system actuation unless an unspent staple cartridge is present
US11849948B2 (en) 2016-12-21 2023-12-26 Cilag Gmbh International Method for resetting a fuse of a surgical instrument shaft
US10568624B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Surgical instruments with jaws that are pivotable about a fixed axis and include separate and distinct closure and firing systems
US10624635B2 (en) 2016-12-21 2020-04-21 Ethicon Llc Firing members with non-parallel jaw engagement features for surgical end effectors
US11653917B2 (en) 2016-12-21 2023-05-23 Cilag Gmbh International Surgical stapling systems
US10758229B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument comprising improved jaw control
US10617414B2 (en) 2016-12-21 2020-04-14 Ethicon Llc Closure member arrangements for surgical instruments
US10568626B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Surgical instruments with jaw opening features for increasing a jaw opening distance
US10610224B2 (en) 2016-12-21 2020-04-07 Ethicon Llc Lockout arrangements for surgical end effectors and replaceable tool assemblies
US10568625B2 (en) 2016-12-21 2020-02-25 Ethicon Llc Staple cartridges and arrangements of staples and staple cavities therein
US10582928B2 (en) 2016-12-21 2020-03-10 Ethicon Llc Articulation lock arrangements for locking an end effector in an articulated position in response to actuation of a jaw closure system
US10448950B2 (en) 2016-12-21 2019-10-22 Ethicon Llc Surgical staplers with independently actuatable closing and firing systems
US10918385B2 (en) 2016-12-21 2021-02-16 Ethicon Llc Surgical system comprising a firing member rotatable into an articulation state to articulate an end effector of the surgical system
US10588632B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical end effectors and firing members thereof
US10588630B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical tool assemblies with closure stroke reduction features
US10588631B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical instruments with positive jaw opening features
US10758230B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument with primary and safety processors
US10603036B2 (en) 2016-12-21 2020-03-31 Ethicon Llc Articulatable surgical instrument with independent pivotable linkage distal of an articulation lock
US10898186B2 (en) 2016-12-21 2021-01-26 Ethicon Llc Staple forming pocket arrangements comprising primary sidewalls and pocket sidewalls
US11766260B2 (en) 2016-12-21 2023-09-26 Cilag Gmbh International Methods of stapling tissue
US11497499B2 (en) 2016-12-21 2022-11-15 Cilag Gmbh International Articulatable surgical stapling instruments
US11160553B2 (en) 2016-12-21 2021-11-02 Cilag Gmbh International Surgical stapling systems
US11160551B2 (en) 2016-12-21 2021-11-02 Cilag Gmbh International Articulatable surgical stapling instruments
US11766259B2 (en) 2016-12-21 2023-09-26 Cilag Gmbh International Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US11559700B2 (en) 2017-01-05 2023-01-24 Covidien Lp Implantable fasteners, applicators, and methods for brachytherapy
US10709901B2 (en) 2017-01-05 2020-07-14 Covidien Lp Implantable fasteners, applicators, and methods for brachytherapy
US11779408B2 (en) 2017-01-18 2023-10-10 Globus Medical, Inc. Robotic navigation of robotic surgical systems
US11529195B2 (en) 2017-01-18 2022-12-20 Globus Medical Inc. Robotic navigation of robotic surgical systems
US10945725B2 (en) 2017-02-06 2021-03-16 Crossroads Extremity Systems, Llc Implant inserter
US10952767B2 (en) 2017-02-06 2021-03-23 Covidien Lp Connector clip for securing an introducer to a surgical fastener applying apparatus
US11864753B2 (en) 2017-02-06 2024-01-09 Crossroads Extremity Systems, Llc Implant inserter
US11179149B2 (en) 2017-02-07 2021-11-23 Crossroads Extremity Systems, Llc Counter-torque implant
US11033325B2 (en) 2017-02-16 2021-06-15 Cilag Gmbh International Electrosurgical instrument with telescoping suction port and debris cleaner
US10828031B2 (en) 2017-02-17 2020-11-10 Ethicon Llc Surgical stapler with elastically deformable tip
US11185327B2 (en) 2017-02-17 2021-11-30 Cilag Gmbh International Method of surgical stapling with end effector component having a curved tip
US11564684B2 (en) 2017-02-17 2023-01-31 Cilag Gmbh International Surgical stapling end effector component with tip having varying bend angle
US11103244B2 (en) 2017-02-17 2021-08-31 Cilag Gmbh International Surgical stapling end effector jaw with tip deflecting toward other jaw
US10729434B2 (en) 2017-02-17 2020-08-04 Ethicon Llc Surgical stapler with insertable distal anvil tip
US10758231B2 (en) 2017-02-17 2020-09-01 Ethicon Llc Surgical stapler with bent anvil tip, angled staple cartridge tip, and tissue gripping features
US10806451B2 (en) 2017-02-17 2020-10-20 Ethicon Llc Surgical stapler with cooperating distal tip features on anvil and staple cartridge
US11564687B2 (en) 2017-02-17 2023-01-31 Cilag Gmbh International Method of surgical stapling with end effector component having a curved tip
US11272930B2 (en) 2017-02-17 2022-03-15 Cilag Gmbh International Method of surgical stapling with end effector component having a curved tip
US10849621B2 (en) 2017-02-23 2020-12-01 Covidien Lp Surgical stapler with small diameter endoscopic portion
US11350915B2 (en) 2017-02-23 2022-06-07 Covidien Lp Surgical stapler with small diameter endoscopic portion
US11786247B2 (en) 2017-02-23 2023-10-17 Covidien Lp Surgical stapler with small diameter endoscopic portion
US11478317B2 (en) 2017-02-24 2022-10-25 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US11026759B2 (en) 2017-02-24 2021-06-08 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10595949B2 (en) 2017-02-24 2020-03-24 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10357321B2 (en) 2017-02-24 2019-07-23 Intuitive Surgical Operations, Inc. Splayed cable guide for a medical instrument
US10299790B2 (en) 2017-03-03 2019-05-28 Covidien Lp Adapter with centering mechanism for articulation joint
US10667813B2 (en) 2017-03-03 2020-06-02 Covidien Lp Adapter with centering mechanism for articulation joint
US11337697B2 (en) 2017-03-03 2022-05-24 Covidien Lp Adapter with centering mechanism for articulation joint
US10799284B2 (en) 2017-03-15 2020-10-13 Ethicon Llc Electrosurgical instrument with textured jaws
US10660641B2 (en) 2017-03-16 2020-05-26 Covidien Lp Adapter with centering mechanism for articulation joint
US11813030B2 (en) 2017-03-16 2023-11-14 Globus Medical, Inc. Robotic navigation of robotic surgical systems
US11896338B2 (en) 2017-03-21 2024-02-13 Intuitive Surgical Operations, Inc. Manual release for medical device drive system
US11497546B2 (en) 2017-03-31 2022-11-15 Cilag Gmbh International Area ratios of patterned coatings on RF electrodes to reduce sticking
US11723660B2 (en) 2017-05-02 2023-08-15 Covidien Lp Surgical loading unit including an articulating end effector
US10603035B2 (en) 2017-05-02 2020-03-31 Covidien Lp Surgical loading unit including an articulating end effector
US11324498B2 (en) 2017-05-05 2022-05-10 Covidien Lp Surgical staples with expandable backspan
US10524784B2 (en) 2017-05-05 2020-01-07 Covidien Lp Surgical staples with expandable backspan
US10517589B2 (en) 2017-05-05 2019-12-31 Covidien Lp Surgical staples with expandable backspan
US10390826B2 (en) 2017-05-08 2019-08-27 Covidien Lp Surgical stapling device with elongated tool assembly and methods of use
US11317916B2 (en) 2017-05-08 2022-05-03 Covidien Lp Surgical stapling device with elongated tool assembly and methods of use
US11278340B2 (en) 2017-05-22 2022-03-22 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for sealing tissue and inhibiting tissue resection
WO2018217548A2 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for sealing tissue, and inhibiting tissue, resection
US11229473B2 (en) 2017-05-22 2022-01-25 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument with clamp arm position input and method for identifying tissue state
US11033316B2 (en) 2017-05-22 2021-06-15 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument having curved ultrasonic blade
WO2018217598A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having electrically insulating features
WO2018217549A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument with a production clamp force based ultrasonic seal process and related methods
WO2018217551A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument and method for sealing tissue with various termination parameters
US11259856B2 (en) 2017-05-22 2022-03-01 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument and method for sealing tissue in successive phases
WO2018217547A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument with clamp arm position input and method for identifying tissue state
US10945778B2 (en) 2017-05-22 2021-03-16 Ethicon Llc Combination ultrasonic and electrosurgical instrument having slip ring electrical contact assembly
US10945779B2 (en) 2017-05-22 2021-03-16 Ethicon Llc Combination ultrasonic and electrosurgical instrument having electrically insulating features
EP4005511A1 (en) 2017-05-22 2022-06-01 Ethicon LLC Combination ultrasonic and electrosurgical instrument having ultrasonic waveguide with distal overmold member
US11051866B2 (en) 2017-05-22 2021-07-06 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument having ultrasonic waveguide with distal overmold member
US11266455B2 (en) 2017-05-22 2022-03-08 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument with a production clamp force based ultrasonic seal process and related methods
US11737804B2 (en) 2017-05-22 2023-08-29 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for limiting blade temperature
EP3881782A1 (en) 2017-05-22 2021-09-22 Ethicon LLC Combination ultrasonic and electrosurgical instrument having curved ultrasonic blade
US11304741B2 (en) 2017-05-22 2022-04-19 Cilag Gmbh International Combination ultrasonic and electrosurgical system having generator filter circuitry
WO2018217606A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical system having generator filter circuitry
US11058472B2 (en) 2017-05-22 2021-07-13 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument having clamp arm electrode
WO2018217600A2 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having curved ultrasonic blade
US11129661B2 (en) 2017-05-22 2021-09-28 Cilag Gmbh International Combination ultrasonic and electrosurgical system having EEPROM and ASIC components
WO2018217552A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument and method for sealing tissue in successive phases
WO2018217595A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having electrical circuits with shared return path
US11234750B2 (en) 2017-05-22 2022-02-01 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument having electrical circuits with shared return path
WO2018217607A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical system having eeprom and asic components
WO2019013867A1 (en) 2017-05-22 2019-01-17 Ethicon Llc Combination ultrasonic and electrosurgical instrument having ultrasonic waveguide with distal overmold member
WO2018217550A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for limiting blade temperature
US11229475B2 (en) 2017-05-22 2022-01-25 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument and method for sealing tissue with various termination parameters
WO2018217601A1 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having clamp arm electrode
WO2018217596A2 (en) 2017-05-22 2018-11-29 Ethicon Llc Combination ultrasonic and electrosurgical instrument having slip ring electrical contact assembly
US11229474B2 (en) 2017-05-22 2022-01-25 Cilag Gmbh International Combination ultrasonic and electrosurgical instrument with adjustable energy modalities and method for limiting blade temperature
US10420551B2 (en) 2017-05-30 2019-09-24 Covidien Lp Authentication and information system for reusable surgical instruments
US11185323B2 (en) 2017-05-30 2021-11-30 Covidien Lp Authentication and information system for reusable surgical instruments
US10478185B2 (en) 2017-06-02 2019-11-19 Covidien Lp Tool assembly with minimal dead space
US11617581B2 (en) 2017-06-02 2023-04-04 Covidien Lp Tool assembly with minimal dead space
US10624633B2 (en) 2017-06-20 2020-04-21 Ethicon Llc Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument
US11672532B2 (en) 2017-06-20 2023-06-13 Cilag Gmbh International Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US10813639B2 (en) 2017-06-20 2020-10-27 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on system conditions
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US10390841B2 (en) 2017-06-20 2019-08-27 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10646220B2 (en) 2017-06-20 2020-05-12 Ethicon Llc Systems and methods for controlling displacement member velocity for a surgical instrument
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US10595882B2 (en) 2017-06-20 2020-03-24 Ethicon Llc Methods for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD879809S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with changeable graphical user interface
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
USD890784S1 (en) 2017-06-20 2020-07-21 Ethicon Llc Display panel with changeable graphical user interface
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US10881396B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Surgical instrument with variable duration trigger arrangement
US10368864B2 (en) 2017-06-20 2019-08-06 Ethicon Llc Systems and methods for controlling displaying motor velocity for a surgical instrument
US10888321B2 (en) 2017-06-20 2021-01-12 Ethicon Llc Systems and methods for controlling velocity of a displacement member of a surgical stapling and cutting instrument
US11793513B2 (en) 2017-06-20 2023-10-24 Cilag Gmbh International Systems and methods for controlling motor speed according to user input for a surgical instrument
US10327767B2 (en) 2017-06-20 2019-06-25 Ethicon Llc Control of motor velocity of a surgical stapling and cutting instrument based on angle of articulation
US10980537B2 (en) 2017-06-20 2021-04-20 Ethicon Llc Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified number of shaft rotations
US11213302B2 (en) 2017-06-20 2022-01-04 Cilag Gmbh International Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US11871939B2 (en) 2017-06-20 2024-01-16 Cilag Gmbh International Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
USD879808S1 (en) 2017-06-20 2020-03-31 Ethicon Llc Display panel with graphical user interface
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US11766258B2 (en) 2017-06-27 2023-09-26 Cilag Gmbh International Surgical anvil arrangements
US10856869B2 (en) 2017-06-27 2020-12-08 Ethicon Llc Surgical anvil arrangements
US10772629B2 (en) 2017-06-27 2020-09-15 Ethicon Llc Surgical anvil arrangements
US11090049B2 (en) 2017-06-27 2021-08-17 Cilag Gmbh International Staple forming pocket arrangements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US11141154B2 (en) 2017-06-27 2021-10-12 Cilag Gmbh International Surgical end effectors and anvils
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10631859B2 (en) 2017-06-27 2020-04-28 Ethicon Llc Articulation systems for surgical instruments
US10695057B2 (en) 2017-06-28 2020-06-30 Ethicon Llc Surgical instrument lockout arrangement
US11000279B2 (en) 2017-06-28 2021-05-11 Ethicon Llc Surgical instrument comprising an articulation system ratio
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US10211586B2 (en) 2017-06-28 2019-02-19 Ethicon Llc Surgical shaft assemblies with watertight housings
US10588633B2 (en) 2017-06-28 2020-03-17 Ethicon Llc Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing
USD854151S1 (en) 2017-06-28 2019-07-16 Ethicon Llc Surgical instrument shaft
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US10786253B2 (en) 2017-06-28 2020-09-29 Ethicon Llc Surgical end effectors with improved jaw aperture arrangements
US11529140B2 (en) 2017-06-28 2022-12-20 Cilag Gmbh International Surgical instrument lockout arrangement
USD869655S1 (en) 2017-06-28 2019-12-10 Ethicon Llc Surgical fastener cartridge
US11642128B2 (en) 2017-06-28 2023-05-09 Cilag Gmbh International Method for articulating a surgical instrument
US11478242B2 (en) 2017-06-28 2022-10-25 Cilag Gmbh International Jaw retainer arrangement for retaining a pivotable surgical instrument jaw in pivotable retaining engagement with a second surgical instrument jaw
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US11058424B2 (en) 2017-06-28 2021-07-13 Cilag Gmbh International Surgical instrument comprising an offset articulation joint
US11678880B2 (en) 2017-06-28 2023-06-20 Cilag Gmbh International Surgical instrument comprising a shaft including a housing arrangement
US11389161B2 (en) 2017-06-28 2022-07-19 Cilag Gmbh International Surgical instrument comprising selectively actuatable rotatable couplers
US10779824B2 (en) 2017-06-28 2020-09-22 Ethicon Llc Surgical instrument comprising an articulation system lockable by a closure system
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
US10716614B2 (en) 2017-06-28 2020-07-21 Ethicon Llc Surgical shaft assemblies with slip ring assemblies with increased contact pressure
USD851762S1 (en) 2017-06-28 2019-06-18 Ethicon Llc Anvil
US11083455B2 (en) 2017-06-28 2021-08-10 Cilag Gmbh International Surgical instrument comprising an articulation system ratio
US10903685B2 (en) 2017-06-28 2021-01-26 Ethicon Llc Surgical shaft assemblies with slip ring assemblies forming capacitive channels
US10758232B2 (en) 2017-06-28 2020-09-01 Ethicon Llc Surgical instrument with positive jaw opening features
US11696759B2 (en) 2017-06-28 2023-07-11 Cilag Gmbh International Surgical stapling instruments comprising shortened staple cartridge noses
US11826048B2 (en) 2017-06-28 2023-11-28 Cilag Gmbh International Surgical instrument comprising selectively actuatable rotatable couplers
US10639037B2 (en) 2017-06-28 2020-05-05 Ethicon Llc Surgical instrument with axially movable closure member
US11020114B2 (en) 2017-06-28 2021-06-01 Cilag Gmbh International Surgical instruments with articulatable end effector with axially shortened articulation joint configurations
US11484310B2 (en) 2017-06-28 2022-11-01 Cilag Gmbh International Surgical instrument comprising a shaft including a closure tube profile
US10603117B2 (en) 2017-06-28 2020-03-31 Ethicon Llc Articulation state detection mechanisms
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
EP3420922A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Suture passing instrument with puncture site identification feature
WO2019003055A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Trocar obturator with transverse needle ports
US10898183B2 (en) 2017-06-29 2021-01-26 Ethicon Llc Robotic surgical instrument with closed loop feedback techniques for advancement of closure member during firing
WO2019003039A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Trocar obturator with detachable rotary tissue fastener
US10258418B2 (en) 2017-06-29 2019-04-16 Ethicon Llc System for controlling articulation forces
US11007022B2 (en) 2017-06-29 2021-05-18 Ethicon Llc Closed loop velocity control techniques based on sensed tissue parameters for robotic surgical instrument
WO2019003054A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Suture passing instrument with puncture site identification feature
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
US10568619B2 (en) 2017-06-29 2020-02-25 Ethicon Llc Surgical port with wound closure channels
US10639068B2 (en) 2017-06-29 2020-05-05 Ethicon Llc Trocar with oblique needle insertion port and perpendicular seal latch
WO2019003051A2 (en) 2017-06-29 2019-01-03 Ethicon Llc Trocar with oblique needle insertion port and perpendicular seal latch
WO2019003050A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Suture grasping instrument
EP3420984A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar obturator with detachable rotary tissue fastener
US10639029B2 (en) 2017-06-29 2020-05-05 Ethicon Llc Suture grasping instrument
US10675018B2 (en) 2017-06-29 2020-06-09 Ethicon Llc Needle guide instrument with transverse suture capture feature
EP3420986A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar with oblique needle insertion port and coplanar stopcock
US10709473B2 (en) 2017-06-29 2020-07-14 Ethicon Llc Trocar obturator with detachable rotary tissue fastener
US11890005B2 (en) 2017-06-29 2024-02-06 Cilag Gmbh International Methods for closed loop velocity control for robotic surgical instrument
EP3420985A2 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar with oblique needle insertion port and perpendicular seal latch
US10398434B2 (en) 2017-06-29 2019-09-03 Ethicon Llc Closed loop velocity control of closure member for robotic surgical instrument
EP3420982A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Suture grasping instrument
EP3928724A1 (en) 2017-06-29 2021-12-29 Ethicon LLC Trocar with oblique needle insertion port and perpendicular seal latch
EP3420919A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Trocar obturator with transverse needle ports
EP3420987A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Surgical port with wound closure channels
US10869690B2 (en) 2017-06-29 2020-12-22 Ethicon Llc Trocar obturator with transverse needle ports
EP3420983A1 (en) 2017-06-29 2019-01-02 Ethicon LLC Needle guide instrument with transverse suture capture feature
WO2019003052A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Trocar with oblique needle insertion port and coplanar stopcock
US10709440B2 (en) 2017-06-29 2020-07-14 Ethicon Llc Suture passing instrument with puncture site identification feature
US11389192B2 (en) 2017-06-29 2022-07-19 Cilag Gmbh International Method of suturing a trocar path incision
US10485580B2 (en) 2017-06-29 2019-11-26 Ethicon Llc Trocar with oblique needle insertion port and coplanar stopcock
WO2019003049A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Needle guide instrument with transverse suture capture feature
US10939937B2 (en) 2017-06-29 2021-03-09 Ethicon Llc Trocar with oblique needle insertion port and perpendicular seal latch
WO2019003038A1 (en) 2017-06-29 2019-01-03 Ethicon Llc Surgical port with wound closure channels
US11925385B2 (en) 2017-06-29 2024-03-12 Cilag Gmbh International Trocar with oblique needle insertion port and perpendicular seal latch
US10820920B2 (en) 2017-07-05 2020-11-03 Ethicon Llc Reusable ultrasonic medical devices and methods of their use
US11684386B2 (en) 2017-07-10 2023-06-27 Cilag Gmbh International Features to couple acoustic drivetrain components in ultrasonic surgical instrument
US10813662B2 (en) 2017-07-10 2020-10-27 Ethicon Llc Acoustic drivetrain with external collar at nodal position
US10709470B2 (en) 2017-07-10 2020-07-14 Ethicon Llc Features to couple acoustic drivetrain components in ultrasonic surgical instrument
US10675094B2 (en) 2017-07-21 2020-06-09 Globus Medical Inc. Robot surgical platform
US11253320B2 (en) 2017-07-21 2022-02-22 Globus Medical Inc. Robot surgical platform
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
US11771499B2 (en) 2017-07-21 2023-10-03 Globus Medical Inc. Robot surgical platform
WO2019027753A1 (en) 2017-07-31 2019-02-07 Ethicon Llc Surgical instrument use indicator
US10561436B2 (en) 2017-07-31 2020-02-18 Ethicon Llc Surgical instrument use indicator
US11464533B2 (en) 2017-07-31 2022-10-11 Cilag Gmbh International Surgical instrument use indicator
EP3827768A1 (en) 2017-07-31 2021-06-02 Ethicon LLC Surgical instrument use indicator
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
US11911033B2 (en) 2017-08-14 2024-02-27 Standard Bariatrics, Inc. Stapling systems and methods for surgical devices and end effectors
US10966721B2 (en) 2017-08-14 2021-04-06 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US11871927B2 (en) 2017-08-14 2024-01-16 Standard Bariatrics, Inc. End effectors, surgical stapling devices, and methods of using same
US10849623B2 (en) 2017-08-14 2020-12-01 Standard Bariatrics, Inc. Buttress systems and methods for surgical stapling devices and end effectors
US11197672B2 (en) 2017-08-14 2021-12-14 Standard Bariatrics, Inc. Buttress systems and methods for surgical stapling devices and end effectors
US10687814B2 (en) * 2017-08-14 2020-06-23 Standard Bariatrics, Inc. Stapling systems and methods for surgical devices and end effectors
US11559305B2 (en) 2017-08-14 2023-01-24 Standard Bariatrics, Inc. Stapling systems and methods for surgical devices and end effectors
US10624636B2 (en) 2017-08-23 2020-04-21 Covidien Lp Surgical stapling device with floating staple cartridge
US10806452B2 (en) 2017-08-24 2020-10-20 Covidien Lp Loading unit for a surgical stapling instrument
US10743903B2 (en) 2017-08-30 2020-08-18 Ethicon Llc Ultrasonic surgical instrument with pre-assembled acoustic assembly
WO2019043505A1 (en) 2017-08-30 2019-03-07 Ethicon Llc Ultrasonic surgical instrument with pre-assembled acoustic assembly
US11547432B2 (en) 2017-08-30 2023-01-10 Cilag Gmbh International Ultrasonic surgical instrument with pre-assembled acoustic assembly
WO2019043506A1 (en) 2017-08-31 2019-03-07 Ethicon Llc End effector for electrosurgical instrument with irrigation
US11134975B2 (en) 2017-08-31 2021-10-05 Cilag Gmbh International Apparatus and method to control operation of surgical instrument based on audible feedback
US11413087B2 (en) 2017-08-31 2022-08-16 Cilag Gmbh International End effector for electrosurgical instrument with irrigation
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
USD907648S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11484358B2 (en) 2017-09-29 2022-11-01 Cilag Gmbh International Flexible electrosurgical instrument
US10729501B2 (en) 2017-09-29 2020-08-04 Ethicon Llc Systems and methods for language selection of a surgical instrument
US11033323B2 (en) 2017-09-29 2021-06-15 Cilag Gmbh International Systems and methods for managing fluid and suction in electrosurgical systems
US10765429B2 (en) 2017-09-29 2020-09-08 Ethicon Llc Systems and methods for providing alerts according to the operational state of a surgical instrument
USD907647S1 (en) 2017-09-29 2021-01-12 Ethicon Llc Display screen or portion thereof with animated graphical user interface
US11490951B2 (en) 2017-09-29 2022-11-08 Cilag Gmbh International Saline contact with electrodes
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10796471B2 (en) 2017-09-29 2020-10-06 Ethicon Llc Systems and methods of displaying a knife position for a surgical instrument
USD917500S1 (en) 2017-09-29 2021-04-27 Ethicon Llc Display screen or portion thereof with graphical user interface
US11696778B2 (en) 2017-10-30 2023-07-11 Cilag Gmbh International Surgical dissectors configured to apply mechanical and electrical energy
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11291465B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Surgical instruments comprising a lockable end effector socket
US11925373B2 (en) 2017-10-30 2024-03-12 Cilag Gmbh International Surgical suturing instrument comprising a non-circular needle
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11759224B2 (en) 2017-10-30 2023-09-19 Cilag Gmbh International Surgical instrument systems comprising handle arrangements
US11819231B2 (en) 2017-10-30 2023-11-21 Cilag Gmbh International Adaptive control programs for a surgical system comprising more than one type of cartridge
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US11406390B2 (en) 2017-10-30 2022-08-09 Cilag Gmbh International Clip applier comprising interchangeable clip reloads
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11051836B2 (en) 2017-10-30 2021-07-06 Cilag Gmbh International Surgical clip applier comprising an empty clip cartridge lockout
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11129636B2 (en) 2017-10-30 2021-09-28 Cilag Gmbh International Surgical instruments comprising an articulation drive that provides for high articulation angles
US11602366B2 (en) 2017-10-30 2023-03-14 Cilag Gmbh International Surgical suturing instrument configured to manipulate tissue using mechanical and electrical power
US11229436B2 (en) 2017-10-30 2022-01-25 Cilag Gmbh International Surgical system comprising a surgical tool and a surgical hub
US11413042B2 (en) 2017-10-30 2022-08-16 Cilag Gmbh International Clip applier comprising a reciprocating clip advancing member
US11648022B2 (en) 2017-10-30 2023-05-16 Cilag Gmbh International Surgical instrument systems comprising battery arrangements
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11207090B2 (en) 2017-10-30 2021-12-28 Cilag Gmbh International Surgical instruments comprising a biased shifting mechanism
US11141160B2 (en) 2017-10-30 2021-10-12 Cilag Gmbh International Clip applier comprising a motor controller
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11793537B2 (en) 2017-10-30 2023-10-24 Cilag Gmbh International Surgical instrument comprising an adaptive electrical system
US11564703B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Surgical suturing instrument comprising a capture width which is larger than trocar diameter
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11123070B2 (en) 2017-10-30 2021-09-21 Cilag Gmbh International Clip applier comprising a rotatable clip magazine
US11478244B2 (en) 2017-10-31 2022-10-25 Cilag Gmbh International Cartridge body design with force reduction based on firing completion
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US10779903B2 (en) 2017-10-31 2020-09-22 Ethicon Llc Positive shaft rotation lock activated by jaw closure
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US11357548B2 (en) 2017-11-09 2022-06-14 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11382666B2 (en) 2017-11-09 2022-07-12 Globus Medical Inc. Methods providing bend plans for surgical rods and related controllers and computer program products
US11786144B2 (en) 2017-11-10 2023-10-17 Globus Medical, Inc. Methods of selecting surgical implants and related devices
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
US11460360B2 (en) 2017-11-14 2022-10-04 Intuitive Surgical Operations, Inc. Split bridge circuit force sensor
US10925603B2 (en) 2017-11-14 2021-02-23 Covidien Lp Reload with articulation stabilization system
US11432894B2 (en) 2017-11-15 2022-09-06 Intuitive Surgical Operations, Inc. Surgical instrument end effector with integral FBG
US10863987B2 (en) 2017-11-16 2020-12-15 Covidien Lp Surgical instrument with imaging device
US11744586B2 (en) 2017-11-16 2023-09-05 Covidien Lp Surgical instrument with imaging device
US11452572B2 (en) 2017-12-14 2022-09-27 Intuitive Surgical Operations, Inc. Medical tools having tension bands
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US10743875B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Surgical end effectors with jaw stiffener arrangements configured to permit monitoring of firing member
US10966718B2 (en) 2017-12-15 2021-04-06 Ethicon Llc Dynamic clamping assemblies with improved wear characteristics for use in connection with electromechanical surgical instruments
US11896222B2 (en) 2017-12-15 2024-02-13 Cilag Gmbh International Methods of operating surgical end effectors
US10779825B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Adapters with end effector position sensing and control arrangements for use in connection with electromechanical surgical instruments
US10743874B2 (en) 2017-12-15 2020-08-18 Ethicon Llc Sealed adapters for use with electromechanical surgical instruments
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US10828033B2 (en) 2017-12-15 2020-11-10 Ethicon Llc Handheld electromechanical surgical instruments with improved motor control arrangements for positioning components of an adapter coupled thereto
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US11006955B2 (en) 2017-12-15 2021-05-18 Ethicon Llc End effectors with positive jaw opening features for use with adapters for electromechanical surgical instruments
US10687813B2 (en) 2017-12-15 2020-06-23 Ethicon Llc Adapters with firing stroke sensing arrangements for use in connection with electromechanical surgical instruments
US11033267B2 (en) 2017-12-15 2021-06-15 Ethicon Llc Systems and methods of controlling a clamping member firing rate of a surgical instrument
US10869666B2 (en) 2017-12-15 2020-12-22 Ethicon Llc Adapters with control systems for controlling multiple motors of an electromechanical surgical instrument
US10716565B2 (en) 2017-12-19 2020-07-21 Ethicon Llc Surgical instruments with dual articulation drivers
US11020112B2 (en) 2017-12-19 2021-06-01 Ethicon Llc Surgical tools configured for interchangeable use with different controller interfaces
US11284953B2 (en) 2017-12-19 2022-03-29 Cilag Gmbh International Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11045270B2 (en) 2017-12-19 2021-06-29 Cilag Gmbh International Robotic attachment comprising exterior drive actuator
USD910847S1 (en) 2017-12-19 2021-02-16 Ethicon Llc Surgical instrument assembly
US11369368B2 (en) 2017-12-21 2022-06-28 Cilag Gmbh International Surgical instrument comprising synchronized drive systems
US11179152B2 (en) 2017-12-21 2021-11-23 Cilag Gmbh International Surgical instrument comprising a tissue grasping system
US11179151B2 (en) 2017-12-21 2021-11-23 Cilag Gmbh International Surgical instrument comprising a display
US10743868B2 (en) 2017-12-21 2020-08-18 Ethicon Llc Surgical instrument comprising a pivotable distal head
US11364027B2 (en) 2017-12-21 2022-06-21 Cilag Gmbh International Surgical instrument comprising speed control
US11883019B2 (en) 2017-12-21 2024-01-30 Cilag Gmbh International Stapling instrument comprising a staple feeding system
US10682134B2 (en) 2017-12-21 2020-06-16 Ethicon Llc Continuous use self-propelled stapling instrument
US11751867B2 (en) 2017-12-21 2023-09-12 Cilag Gmbh International Surgical instrument comprising sequenced systems
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US11337691B2 (en) 2017-12-21 2022-05-24 Cilag Gmbh International Surgical instrument configured to determine firing path
US11849939B2 (en) 2017-12-21 2023-12-26 Cilag Gmbh International Continuous use self-propelled stapling instrument
US11129680B2 (en) 2017-12-21 2021-09-28 Cilag Gmbh International Surgical instrument comprising a projector
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11576668B2 (en) 2017-12-21 2023-02-14 Cilag Gmbh International Staple instrument comprising a firing path display
US11583274B2 (en) 2017-12-21 2023-02-21 Cilag Gmbh International Self-guiding stapling instrument
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
US11696760B2 (en) 2017-12-28 2023-07-11 Cilag Gmbh International Safety systems for smart powered surgical stapling
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
US11100631B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Use of laser light and red-green-blue coloration to determine properties of back scattered light
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11308075B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity
US11423007B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Adjustment of device control programs based on stratified contextual data in addition to the data
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11419667B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11775682B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
US11304763B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US11864845B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Sterile field interactive control displays
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US11918302B2 (en) 2017-12-28 2024-03-05 Cilag Gmbh International Sterile field interactive control displays
US11712303B2 (en) 2017-12-28 2023-08-01 Cilag Gmbh International Surgical instrument comprising a control circuit
US11147607B2 (en) 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US11589932B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11701185B2 (en) 2017-12-28 2023-07-18 Cilag Gmbh International Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11612444B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Adjustment of a surgical device function based on situational awareness
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US11213359B2 (en) 2017-12-28 2022-01-04 Cilag Gmbh International Controllers for robot-assisted surgical platforms
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11903587B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Adjustment to the surgical stapling control based on situational awareness
US11779337B2 (en) 2017-12-28 2023-10-10 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
US11382697B2 (en) 2017-12-28 2022-07-12 Cilag Gmbh International Surgical instruments comprising button circuits
US11737668B2 (en) 2017-12-28 2023-08-29 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US11672605B2 (en) 2017-12-28 2023-06-13 Cilag Gmbh International Sterile field interactive control displays
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11602393B2 (en) 2017-12-28 2023-03-14 Cilag Gmbh International Surgical evacuation sensing and generator control
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US11751958B2 (en) 2017-12-28 2023-09-12 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11601371B2 (en) 2017-12-28 2023-03-07 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11179175B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Controlling an ultrasonic surgical instrument according to tissue location
US11596291B2 (en) 2017-12-28 2023-03-07 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying of the location of the tissue within the jaws
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11179204B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11114195B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Surgical instrument with a tissue marking assembly
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
US11890065B2 (en) 2017-12-28 2024-02-06 Cilag Gmbh International Surgical system to limit displacement
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US11446052B2 (en) 2017-12-28 2022-09-20 Cilag Gmbh International Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US10945732B2 (en) 2018-01-17 2021-03-16 Covidien Lp Surgical stapler with self-returning assembly
US11497567B2 (en) 2018-02-08 2022-11-15 Intuitive Surgical Operations, Inc. Jointed control platform
US11118661B2 (en) 2018-02-12 2021-09-14 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US11592087B2 (en) 2018-02-12 2023-02-28 Intuitive Surgical Operations, Inc. Instrument transmission converting roll to linear actuation
US10646283B2 (en) 2018-02-19 2020-05-12 Globus Medical Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US11369371B2 (en) 2018-03-02 2022-06-28 Covidien Lp Surgical stapling instrument
US11439376B2 (en) 2018-03-07 2022-09-13 Intuitive Surgical Operations, Inc. Low-friction, small profile medical tools having easy-to-assemble components
US11839396B2 (en) 2018-03-08 2023-12-12 Cilag Gmbh International Fine dissection mode for tissue classification
US11707293B2 (en) 2018-03-08 2023-07-25 Cilag Gmbh International Ultrasonic sealing algorithm with temperature control
US11589915B2 (en) 2018-03-08 2023-02-28 Cilag Gmbh International In-the-jaw classifier based on a model
US11389188B2 (en) 2018-03-08 2022-07-19 Cilag Gmbh International Start temperature of blade
US11678901B2 (en) 2018-03-08 2023-06-20 Cilag Gmbh International Vessel sensing for adaptive advanced hemostasis
US11457944B2 (en) 2018-03-08 2022-10-04 Cilag Gmbh International Adaptive advanced tissue treatment pad saver mode
US11337746B2 (en) 2018-03-08 2022-05-24 Cilag Gmbh International Smart blade and power pulsing
US11534196B2 (en) 2018-03-08 2022-12-27 Cilag Gmbh International Using spectroscopy to determine device use state in combo instrument
US11399858B2 (en) 2018-03-08 2022-08-02 Cilag Gmbh International Application of smart blade technology
US11298148B2 (en) 2018-03-08 2022-04-12 Cilag Gmbh International Live time tissue classification using electrical parameters
US11701162B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Smart blade application for reusable and disposable devices
US11701139B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11344326B2 (en) 2018-03-08 2022-05-31 Cilag Gmbh International Smart blade technology to control blade instability
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
US11617597B2 (en) 2018-03-08 2023-04-04 Cilag Gmbh International Application of smart ultrasonic blade technology
US11678927B2 (en) 2018-03-08 2023-06-20 Cilag Gmbh International Detection of large vessels during parenchymal dissection using a smart blade
US11844545B2 (en) 2018-03-08 2023-12-19 Cilag Gmbh International Calcified vessel identification
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11464532B2 (en) 2018-03-08 2022-10-11 Cilag Gmbh International Methods for estimating and controlling state of ultrasonic end effector
EP3542732A1 (en) 2018-03-23 2019-09-25 Ethicon LLC Surgical instrument with capacitive electrical interface
WO2019180649A1 (en) 2018-03-23 2019-09-26 Ethicon Llc Staple cartridge with short circuit prevention features
US10842517B2 (en) 2018-03-23 2020-11-24 Ethicon Llc Surgical instrument with compressible electrical connector
US10639038B2 (en) 2018-03-23 2020-05-05 Ethicon Llc Staple cartridge with short circuit prevention features
EP3542733A1 (en) 2018-03-23 2019-09-25 Ethicon LLC Staple cartridge with short circuit prevention features
US10631861B2 (en) 2018-03-23 2020-04-28 Ethicon Llc Slip ring assembly for surgical instrument
US11439393B2 (en) 2018-03-23 2022-09-13 Cilag Gmbh International Slip ring assembly for surgical instrument
US10779828B2 (en) 2018-03-23 2020-09-22 Ethicon Llc Surgical instrument with capacitive electrical interface
US10799257B2 (en) 2018-03-23 2020-10-13 Ethicon Llc Seal for surgical instrument
US11026681B2 (en) 2018-03-23 2021-06-08 Cilag Gmbh International Surgical instrument with recessed contacts and electrically insulating barriers
US10631860B2 (en) 2018-03-23 2020-04-28 Ethicon Llc Surgical instrument with electrical contact under membrane
EP3542731A2 (en) 2018-03-23 2019-09-25 Ethicon LLC Surgical instrument with electrical contact under membrane
WO2019180648A2 (en) 2018-03-23 2019-09-26 Ethicon Llc Surgical instrument with electrical contact under membrane
WO2019180661A1 (en) 2018-03-23 2019-09-26 Ethicon Llc Surgical instrument with capacitive electrical interface
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11213294B2 (en) 2018-03-28 2022-01-04 Cilag Gmbh International Surgical instrument comprising co-operating lockout features
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11406382B2 (en) 2018-03-28 2022-08-09 Cilag Gmbh International Staple cartridge comprising a lockout key configured to lift a firing member
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
US11589865B2 (en) 2018-03-28 2023-02-28 Cilag Gmbh International Methods for controlling a powered surgical stapler that has separate rotary closure and firing systems
US11197668B2 (en) 2018-03-28 2021-12-14 Cilag Gmbh International Surgical stapling assembly comprising a lockout and an exterior access orifice to permit artificial unlocking of the lockout
US11207067B2 (en) 2018-03-28 2021-12-28 Cilag Gmbh International Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing
US11166716B2 (en) 2018-03-28 2021-11-09 Cilag Gmbh International Stapling instrument comprising a deactivatable lockout
US11129611B2 (en) 2018-03-28 2021-09-28 Cilag Gmbh International Surgical staplers with arrangements for maintaining a firing member thereof in a locked configuration unless a compatible cartridge has been installed therein
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
US11100668B2 (en) 2018-04-09 2021-08-24 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US11694355B2 (en) 2018-04-09 2023-07-04 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
WO2019234705A2 (en) 2018-06-08 2019-12-12 Acclarent, Inc. Apparatus and method for performing vidian neurectomy procedure
US11622805B2 (en) 2018-06-08 2023-04-11 Acclarent, Inc. Apparatus and method for performing vidian neurectomy procedure
US11147629B2 (en) 2018-06-08 2021-10-19 Acclarent, Inc. Surgical navigation system with automatically driven endoscope
WO2019234540A1 (en) 2018-06-08 2019-12-12 Acclarent, Inc. Surgical navigation system with automatically driven endoscope
US11864759B2 (en) 2018-06-21 2024-01-09 Covidien Lp Articulated stapling with fire lock
US10849622B2 (en) 2018-06-21 2020-12-01 Covidien Lp Articulated stapling with fire lock
US10786252B2 (en) 2018-07-16 2020-09-29 Ethicon Llc Surgical stapling end effector component with deformable tip having void
EP3597117A1 (en) 2018-07-16 2020-01-22 Ethicon LLC Surgical stapling end effector component with tip having varying bend angle
WO2020016724A2 (en) 2018-07-16 2020-01-23 Ethicon Llc Method of surgical stapling with end effector component having a curved tip
US11259798B2 (en) 2018-07-16 2022-03-01 Intuitive Surgical Operations, Inc. Medical devices having tissue grasping surfaces and features for manipulating surgical needles
US10912558B2 (en) 2018-07-16 2021-02-09 Ethicon Llc Surgical stapling end effector component with deformable tip having thick distal end
US10912561B2 (en) 2018-07-16 2021-02-09 Ethicon Llc Buttress applier cartridge for surgical stapler having end effector with deflectable curved tip
US10973515B2 (en) 2018-07-16 2021-04-13 Ethicon Llc Permanent attachment means for curved tip of component of surgical stapling instrument
US11179154B2 (en) 2018-07-16 2021-11-23 Cilag Gmbh International Surgical stapling end effector component with deformable tip skewing in multiple planes
EP3597118A1 (en) 2018-07-16 2020-01-22 Ethicon LLC Method of surgical stapling with end effector component having a curved tip
EP3597121A2 (en) 2018-07-16 2020-01-22 Ethicon LLC Surgical stapling end effector jaw with tip deflecting toward other jaw
WO2020016723A2 (en) 2018-07-16 2020-01-23 Ethicon Llc Surgical stapling end effector jaw with tip deflecting toward other jaw
EP3597119A2 (en) 2018-07-16 2020-01-22 Ethicon LLC Permanent attachment means for curved tip of component of surgical stapling instrument
WO2020016759A1 (en) 2018-07-16 2020-01-23 Ethicon Llc Permanent attachment means for curved tip of component of surgical stapling instrument
US11160550B2 (en) 2018-07-16 2021-11-02 Cilag Gmbh International Surgical stapling end effector component with articulation and asymmetric deformable tip
WO2020016721A1 (en) 2018-07-16 2020-01-23 Ethicon Llc Surgical stapling end effector component with tip having varying bend angle
US11612447B2 (en) 2018-07-19 2023-03-28 Intuitive Surgical Operations, Inc. Medical devices having three tool members
US10736631B2 (en) 2018-08-07 2020-08-11 Covidien Lp End effector with staple cartridge ejector
US11547406B2 (en) 2018-08-07 2023-01-10 Covidien Lp End effector with staple cartridge ejector
US11786242B2 (en) 2018-08-13 2023-10-17 Cilag Gmbh International Firing system for linear surgical stapler
US10898187B2 (en) 2018-08-13 2021-01-26 Ethicon Llc Firing system for linear surgical stapler
US11278285B2 (en) 2018-08-13 2022-03-22 Cilag GbmH International Clamping assembly for linear surgical stapler
US11033266B2 (en) 2018-08-13 2021-06-15 Cilag Gmbh International Decoupling mechanism for linear surgical stapler
EP3610801A2 (en) 2018-08-13 2020-02-19 Ethicon LLC Clamping assembly for linear surgical stapler
WO2020035763A2 (en) 2018-08-13 2020-02-20 Ethicon Llc Clamping assembly for linear surgical stapler
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
US10779821B2 (en) 2018-08-20 2020-09-22 Ethicon Llc Surgical stapler anvils with tissue stop features configured to avoid tissue pinch
US10912559B2 (en) 2018-08-20 2021-02-09 Ethicon Llc Reinforced deformable anvil tip for surgical stapler anvil
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
USD914878S1 (en) 2018-08-20 2021-03-30 Ethicon Llc Surgical instrument anvil
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US10856870B2 (en) 2018-08-20 2020-12-08 Ethicon Llc Switching arrangements for motor powered articulatable surgical instruments
US11083458B2 (en) 2018-08-20 2021-08-10 Cilag Gmbh International Powered surgical instruments with clutching arrangements to convert linear drive motions to rotary drive motions
US11039834B2 (en) 2018-08-20 2021-06-22 Cilag Gmbh International Surgical stapler anvils with staple directing protrusions and tissue stability features
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US10842492B2 (en) 2018-08-20 2020-11-24 Ethicon Llc Powered articulatable surgical instruments with clutching and locking arrangements for linking an articulation drive system to a firing drive system
US11564691B2 (en) 2018-08-24 2023-01-31 Covidien Lp Powered circular stapling device
US11504121B2 (en) 2018-09-14 2022-11-22 Covidien Lp Connector mechanisms for surgical stapling instruments
US10849620B2 (en) 2018-09-14 2020-12-01 Covidien Lp Connector mechanisms for surgical stapling instruments
US11045193B2 (en) 2018-10-11 2021-06-29 Cilag Gmbh International Anvil assembly for linear surgical stapler
EP4070739A1 (en) 2018-10-11 2022-10-12 Cilag GmbH International Closure assembly for linear surgical stapler
WO2020075131A1 (en) 2018-10-11 2020-04-16 Ethicon Llc Closure assembly for linear surgical stapler
WO2020075130A1 (en) 2018-10-11 2020-04-16 Ethicon Llc Anvil assembly for linear surgical stapler
EP3636166A2 (en) 2018-10-11 2020-04-15 Ethicon LLC Anvil assembly for linear surgical stapler
US11779331B2 (en) 2018-10-11 2023-10-10 Cilag Gmbh International Closure assembly for linear surgical stapler
EP3636168A2 (en) 2018-10-11 2020-04-15 Ethicon LLC Closure assembly for linear surgical stapler
US10905419B2 (en) 2018-10-11 2021-02-02 Ethicon Llc Closure assembly for linear surgical stapler
US11806014B2 (en) 2018-10-23 2023-11-07 Covidien Lp Surgical stapling device with floating staple cartridge
US11090051B2 (en) 2018-10-23 2021-08-17 Covidien Lp Surgical stapling device with floating staple cartridge
US11197673B2 (en) 2018-10-30 2021-12-14 Covidien Lp Surgical stapling instruments and end effector assemblies thereof
US11832863B2 (en) 2018-11-05 2023-12-05 Globus Medical, Inc. Compliant orthopedic driver
US11751927B2 (en) 2018-11-05 2023-09-12 Globus Medical Inc. Compliant orthopedic driver
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
US11213287B2 (en) 2018-11-15 2022-01-04 Intuitive Surgical Operations, Inc. Support apparatus for a medical retractor device
US11291514B2 (en) 2018-11-15 2022-04-05 Intuitive Surgical Operations, Inc. Medical devices having multiple blades and methods of use
US11815412B2 (en) 2018-11-15 2023-11-14 Intuitive Surgical Operations, Inc. Strain sensor with contoured deflection surface
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11931110B2 (en) 2018-12-14 2024-03-19 Cilag Gmbh International Surgical instrument comprising a control system that uses input from a strain gage circuit
WO2020136540A1 (en) 2018-12-28 2020-07-02 Ethicon Llc Curved tip surgical stapler buttress assembly applicator with compression layer pocket
US11103243B2 (en) 2018-12-28 2021-08-31 Cilag Gmbh International Curved tip surgical stapler buttress assembly applicator with compression layer pocket feature
US11931032B2 (en) 2018-12-28 2024-03-19 Cilag Gmbh International Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
USD901686S1 (en) 2018-12-28 2020-11-10 Ethicon Llc Applicator for surgical stapler buttress
US11166725B2 (en) 2018-12-28 2021-11-09 Cilag Gmbh International Configuration of buttress for surgical stapler
USD903115S1 (en) 2018-12-28 2020-11-24 Ethicon Llc Applicator for a surgical stapler buttress
WO2020136481A1 (en) 2018-12-28 2020-07-02 Ethicon Llc Curved tip surgical stapler buttress assembly applicator with opening feature for curved tip alignment
USD983972S1 (en) 2018-12-28 2023-04-18 Cilag Gmbh International Surgical stapler deck with tissue engagement cleat features
USD983971S1 (en) 2018-12-28 2023-04-18 Cilag Gmbh International Surgical stapler deck with tissue engagement recess features
EP3673825A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with opening feature for curved tip alignment
USD933220S1 (en) 2018-12-28 2021-10-12 Cilag Gmbh International Buttress assembly for a surgical stapler
USD932621S1 (en) 2018-12-28 2021-10-05 Cilag Gmbh International Buttress assembly for a surgical stapler
US11272935B2 (en) 2018-12-28 2022-03-15 Cilag Gmbh International Curved tip surgical stapler buttress assembly applicator with opening feature for curved tip alignment
WO2020136492A1 (en) 2018-12-28 2020-07-02 Ethicon Llc Curved tip surgical stapler buttress assembly applicator with proximal alignment features
EP4052658A1 (en) 2018-12-28 2022-09-07 Cilag GmbH International Buttress assembly applicator with proximal alignment features for a curved tip surgical stapler
US11116505B2 (en) 2018-12-28 2021-09-14 Cilag Gmbh International Applicator for surgical stapler buttress
EP4052659A1 (en) 2018-12-28 2022-09-07 Cilag GmbH International Buttress assembly applicator with proximal alignment features for a curved tip surgical stapler
US11166724B2 (en) 2018-12-28 2021-11-09 Cilag Gmbh International Adhesive distribution on buttress for surgical stapler
US11432817B2 (en) 2018-12-28 2022-09-06 Cilag Gmbh International Packaging for surgical stapler buttress
US10905424B2 (en) 2018-12-28 2021-02-02 Ethicon Llc Curved tip surgical stapler buttress assembly applicator with proximal alignment features
WO2020136482A1 (en) 2018-12-28 2020-07-02 Ethicon Llc Surgical stapler with sloped staple deck for varying tissue compression
WO2020136542A2 (en) 2018-12-28 2020-07-02 Ethicon Llc Surgical stapler with tissue engagement features around tissue containment pin
EP3673822A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with compression layer pocket feature
USD926318S1 (en) 2018-12-28 2021-07-27 Cilag Gmbh International Surgical stapler deck with tissue engagement recess features
US11701109B2 (en) 2018-12-28 2023-07-18 Cilag Gmbh International Surgical stapler with sloped staple deck for varying tissue compression
USD955576S1 (en) 2018-12-28 2022-06-21 Cilag Gmbh International Applicator for a surgical stapler buttress
USD926317S1 (en) 2018-12-28 2021-07-27 Cilag Gmbh International Surgical stapler deck with tissue engagement cleat features
EP4042951A1 (en) 2018-12-28 2022-08-17 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with compression layer pocket feature
EP3673826A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Surgical stapler with sloped staple deck for varying tissue compression
US11202628B2 (en) 2018-12-28 2021-12-21 Cilag Gmbh International Surgical stapler with tissue engagement features around tissue containment pin
EP3673823A1 (en) 2018-12-28 2020-07-01 Ethicon LLC Curved tip surgical stapler buttress assembly applicator with proximal alignment features
EP4331504A2 (en) 2018-12-28 2024-03-06 Ethicon LLC Surgical stapler with tissue engagement features around tissue containment pin
EP3673824A2 (en) 2018-12-28 2020-07-01 Ethicon LLC Surgical stapler with tissue engagement features around tissue containment pin
USD922576S1 (en) 2018-12-28 2021-06-15 Cilag Gmbh International Applicator tray for a buttress applicator for a surgical stapler
US11602347B2 (en) 2018-12-28 2023-03-14 Cilag Gmbh International Method of applying buttresses to surgically cut and stapled sites
US11033269B2 (en) 2018-12-28 2021-06-15 Cilag Gmbh International Method of applying buttresses to surgically cut and stapled sites
US10912563B2 (en) 2019-01-02 2021-02-09 Covidien Lp Stapling device including tool assembly stabilizing member
US11786296B2 (en) 2019-02-15 2023-10-17 Accularent, Inc. Instrument for endoscopic posterior nasal nerve ablation
WO2020165770A1 (en) 2019-02-15 2020-08-20 Acclarent, Inc. Instrument for endoscopic posterior nasal nerve ablation
US11298129B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Method for providing an authentication lockout in a surgical stapler with a replaceable cartridge
US11517309B2 (en) 2019-02-19 2022-12-06 Cilag Gmbh International Staple cartridge retainer with retractable authentication key
US11298130B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Staple cartridge retainer with frangible authentication key
US11259807B2 (en) 2019-02-19 2022-03-01 Cilag Gmbh International Staple cartridges with cam surfaces configured to engage primary and secondary portions of a lockout of a surgical stapling device
US11357503B2 (en) 2019-02-19 2022-06-14 Cilag Gmbh International Staple cartridge retainers with frangible retention features and methods of using same
US11925350B2 (en) 2019-02-19 2024-03-12 Cilag Gmbh International Method for providing an authentication lockout in a surgical stapler with a replaceable cartridge
US11291444B2 (en) 2019-02-19 2022-04-05 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a closure lockout
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
US11331101B2 (en) 2019-02-19 2022-05-17 Cilag Gmbh International Deactivator element for defeating surgical stapling device lockouts
US11291445B2 (en) 2019-02-19 2022-04-05 Cilag Gmbh International Surgical staple cartridges with integral authentication keys
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11331100B2 (en) 2019-02-19 2022-05-17 Cilag Gmbh International Staple cartridge retainer system with authentication keys
US11464511B2 (en) 2019-02-19 2022-10-11 Cilag Gmbh International Surgical staple cartridges with movable authentication key arrangements
US11272931B2 (en) 2019-02-19 2022-03-15 Cilag Gmbh International Dual cam cartridge based feature for unlocking a surgical stapler lockout
US11317915B2 (en) 2019-02-19 2022-05-03 Cilag Gmbh International Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers
US11344297B2 (en) 2019-02-28 2022-05-31 Covidien Lp Surgical stapling device with independently movable jaws
US11259808B2 (en) 2019-03-13 2022-03-01 Covidien Lp Tool assemblies with a gap locking member
US11890011B2 (en) 2019-03-13 2024-02-06 Covidien Lp Tool assemblies with a gap locking member
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11737696B2 (en) 2019-03-22 2023-08-29 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11744598B2 (en) 2019-03-22 2023-09-05 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11850012B2 (en) 2019-03-22 2023-12-26 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11890009B2 (en) 2019-04-01 2024-02-06 Covidien Lp Loading unit and adapter with modified coupling assembly
US11284892B2 (en) 2019-04-01 2022-03-29 Covidien Lp Loading unit and adapter with modified coupling assembly
US11284893B2 (en) 2019-04-02 2022-03-29 Covidien Lp Stapling device with articulating tool assembly
US11534235B2 (en) 2019-04-04 2022-12-27 Acclarent, Inc. Needle instrument for posterior nasal neurectomy ablation
WO2020201927A1 (en) 2019-04-04 2020-10-08 Acclarent, Inc. Needle instrument for posterior nasal neurectomy ablation
US11241228B2 (en) 2019-04-05 2022-02-08 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
US11925348B2 (en) 2019-04-05 2024-03-12 Covidien Lp Surgical instrument including an adapter assembly and an articulating surgical loading unit
WO2020217137A1 (en) 2019-04-26 2020-10-29 Ethicon Llc Staple retainer for surgical stapler cartridge
US11266403B2 (en) 2019-04-26 2022-03-08 Cilag Gmbh International Tissue cutting washer for right angle surgical stapler
EP3730070A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Cartridge based lockout mechanism for right angle surgical stapler
USD938029S1 (en) 2019-04-26 2021-12-07 Cilag Gmbh International Staple retainer for surgical stapler cartridge
US11202629B2 (en) 2019-04-26 2021-12-21 Cilag Gmbh International Clamping based lockout mechanism for right angle surgical stapler
WO2020217136A1 (en) 2019-04-26 2020-10-29 Ethicon Llc Cartridge based lockout mechanism for right angle surgical stapler
US11324504B2 (en) 2019-04-26 2022-05-10 Cilag Gmbh International Cartridge based lockout mechanism for right angle surgical stapler
WO2020217135A1 (en) 2019-04-26 2020-10-29 Ethicon Llc Clamping based lockout mechanism for right angle surgical stapler
EP3730069A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Staple retainer for surgical stapler cartridge
EP3730068A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Tissue cutting washer for right angle surgical stapler
EP3730071A1 (en) 2019-04-26 2020-10-28 Ethicon LLC Clamping based lockout mechanism for right angle surgical stapler
US11166721B2 (en) 2019-04-26 2021-11-09 Cilag Gmbh International Staple retainer for surgical stapler cartridge
WO2020217134A1 (en) 2019-04-26 2020-10-29 Ethicon Llc Tissue cutting washer for right angle surgical stapler
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
WO2020240317A1 (en) 2019-05-28 2020-12-03 Ethicon Llc Nozzle fluid ingress prevention features for surgical stapler
EP3744260A1 (en) 2019-05-28 2020-12-02 Ethicon LLC Nozzle fluid ingress prevention features for surgical stapler
US11896233B2 (en) 2019-05-31 2024-02-13 Covidien Lp Circular stapling device
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
US11241235B2 (en) 2019-06-28 2022-02-08 Cilag Gmbh International Method of using multiple RFID chips with a surgical assembly
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11744593B2 (en) 2019-06-28 2023-09-05 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11229437B2 (en) 2019-06-28 2022-01-25 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11684369B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Method of using multiple RFID chips with a surgical assembly
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11553919B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Method for authenticating the compatibility of a staple cartridge with a surgical instrument
US11344309B2 (en) 2019-07-05 2022-05-31 Covidien Lp Circular stapling instruments
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
US11793517B2 (en) 2019-08-02 2023-10-24 Covidien Lp Linear stapling device with vertically movable knife
US11224424B2 (en) 2019-08-02 2022-01-18 Covidien Lp Linear stapling device with vertically movable knife
WO2021038375A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic blade and clamp arm alignment features
WO2021038373A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic surgical instrument with axisymmetric clamping
US11690642B2 (en) 2019-08-30 2023-07-04 Cilag Gmbh International Ultrasonic surgical instrument with a multi-planar articulating shaft assembly
US11457945B2 (en) 2019-08-30 2022-10-04 Cilag Gmbh International Ultrasonic blade and clamp arm alignment features
US11471181B2 (en) 2019-08-30 2022-10-18 Cilag Gmbh International Ultrasonic surgical instrument with axisymmetric clamping
EP4140420A1 (en) 2019-08-30 2023-03-01 Cilag GmbH International Ultrasonic surgical instrument with a multi-planar articulating shaft assembly
WO2021038372A1 (en) 2019-08-30 2021-03-04 Ethicon Llc Ultrasonic surgical instrument with a multi-planar articulating shaft assembly
US11712261B2 (en) 2019-08-30 2023-08-01 Cilag Gmbh International Rotatable linear actuation mechanism
US11612409B2 (en) 2019-08-30 2023-03-28 Cilag Gmbh International Ultrasonic transducer alignment of an articulating ultrasonic surgical instrument
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11406385B2 (en) 2019-10-11 2022-08-09 Covidien Lp Stapling device with a gap locking member
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US11844532B2 (en) 2019-10-14 2023-12-19 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
US11173060B2 (en) 2019-11-04 2021-11-16 Standard Bariatrics, Inc. Systems and methods of performing surgery using Laplace's law tension retraction during surgery
US11602449B2 (en) 2019-11-04 2023-03-14 Standard Bariatrics, Inc. Systems and methods of performing surgery using Laplace's law tension retraction during surgery
WO2021090174A1 (en) 2019-11-05 2021-05-14 Ethicon Llc Articulation joint with helical lumen
US11857283B2 (en) 2019-11-05 2024-01-02 Cilag Gmbh International Articulation joint with helical lumen
US11123068B2 (en) 2019-11-08 2021-09-21 Covidien Lp Surgical staple cartridge
US11707274B2 (en) 2019-12-06 2023-07-25 Covidien Lp Articulating mechanism for surgical instrument
US11109862B2 (en) 2019-12-12 2021-09-07 Covidien Lp Surgical stapling device with flexible shaft
US11779335B2 (en) 2019-12-12 2023-10-10 Covidien Lp Surgical stapling device with flexible shaft
US11737747B2 (en) 2019-12-17 2023-08-29 Covidien Lp Hand-held surgical instruments
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11911063B2 (en) 2019-12-30 2024-02-27 Cilag Gmbh International Techniques for detecting ultrasonic blade to electrode contact and reducing power to ultrasonic blade
US11759251B2 (en) 2019-12-30 2023-09-19 Cilag Gmbh International Control program adaptation based on device status and user input
US11744636B2 (en) 2019-12-30 2023-09-05 Cilag Gmbh International Electrosurgical systems with integrated and external power sources
US11723716B2 (en) 2019-12-30 2023-08-15 Cilag Gmbh International Electrosurgical instrument with variable control mechanisms
US11707318B2 (en) 2019-12-30 2023-07-25 Cilag Gmbh International Surgical instrument with jaw alignment features
US11660089B2 (en) 2019-12-30 2023-05-30 Cilag Gmbh International Surgical instrument comprising a sensing system
US11786291B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Deflectable support of RF energy electrode with respect to opposing ultrasonic blade
US11786294B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Control program for modular combination energy device
US11812957B2 (en) 2019-12-30 2023-11-14 Cilag Gmbh International Surgical instrument comprising a signal interference resolution system
US11779329B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Surgical instrument comprising a flex circuit including a sensor system
US11696776B2 (en) 2019-12-30 2023-07-11 Cilag Gmbh International Articulatable surgical instrument
US11684412B2 (en) 2019-12-30 2023-06-27 Cilag Gmbh International Surgical instrument with rotatable and articulatable surgical end effector
US11452525B2 (en) 2019-12-30 2022-09-27 Cilag Gmbh International Surgical instrument comprising an adjustment system
US11589916B2 (en) 2019-12-30 2023-02-28 Cilag Gmbh International Electrosurgical instruments with electrodes having variable energy densities
US11779387B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Clamp arm jaw to minimize tissue sticking and improve tissue control
US11730481B2 (en) 2020-01-06 2023-08-22 Covidien Lp Assemblies for retaining a trocar assembly
US11911038B2 (en) 2020-01-13 2024-02-27 Covidien Lp Cut optimization for excessive tissue conditions
US11523828B2 (en) 2020-01-28 2022-12-13 Covidien Lp Sealed reload assembly for stapling device
US11278282B2 (en) 2020-01-31 2022-03-22 Covidien Lp Stapling device with selective cutting
US11452524B2 (en) 2020-01-31 2022-09-27 Covidien Lp Surgical stapling device with lockout
US11696758B2 (en) 2020-01-31 2023-07-11 Covidien Lp Stapling device with selective cutting
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11890014B2 (en) 2020-02-14 2024-02-06 Covidien Lp Cartridge holder for surgical staples and having ridges in peripheral walls for gripping tissue
US11690697B2 (en) 2020-02-19 2023-07-04 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11622767B2 (en) 2020-02-19 2023-04-11 Covidien Lp Sealed trocar assembly for stapling device
US11779343B2 (en) 2020-02-26 2023-10-10 Covidien Lp Staple reload assembly with releasable knife
US11344301B2 (en) 2020-03-02 2022-05-31 Covidien Lp Surgical stapling device with replaceable reload assembly
US11684364B2 (en) 2020-03-05 2023-06-27 Covidien Lp Articulation mechanism for surgical stapling device
US11344302B2 (en) 2020-03-05 2022-05-31 Covidien Lp Articulation mechanism for surgical stapling device
US11707278B2 (en) 2020-03-06 2023-07-25 Covidien Lp Surgical stapler tool assembly to minimize bleeding
US11246593B2 (en) 2020-03-06 2022-02-15 Covidien Lp Staple cartridge
US11723656B2 (en) 2020-03-10 2023-08-15 Covidien Lp Tool assembly with replaceable cartridge assembly
US11317911B2 (en) 2020-03-10 2022-05-03 Covidien Lp Tool assembly with replaceable cartridge assembly
US11357505B2 (en) 2020-03-10 2022-06-14 Covidien Lp Surgical stapling apparatus with firing lockout mechanism
US11737753B2 (en) 2020-03-10 2023-08-29 Covidien Lp Surgical stapling apparatus with firing lockout mechanism
US11406383B2 (en) 2020-03-17 2022-08-09 Covidien Lp Fire assisted powered EGIA handle
US11426159B2 (en) 2020-04-01 2022-08-30 Covidien Lp Sled detection device
US11331098B2 (en) 2020-04-01 2022-05-17 Covidien Lp Sled detection device
US11701108B2 (en) 2020-04-01 2023-07-18 Covidien Lp Sled detection device
US11504117B2 (en) 2020-04-02 2022-11-22 Covidien Lp Hand-held surgical instruments
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
WO2021219866A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Tilting tang cannula depth limiter
US11712267B2 (en) 2020-05-01 2023-08-01 Cilag Gmbh International Tilting tang cannula depth limiter
US11633211B2 (en) 2020-05-01 2023-04-25 Cilag Gmbh International Pinch to release cannula depth limiter
WO2021219875A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Pinch-to-release cannula depth limiter
WO2021219878A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Airflow channels and patterns in lumen for cannula
WO2021219877A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Latchless obturator with interference fit feature
WO2021219855A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Gyroscopic stabilizer for surgical shafts or cannulas
WO2021219884A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Multi-diameter cannula depth limiter
WO2021219862A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Balancing feature for reusable trocar
WO2021219883A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Pinch-to-clamp cannula depth limiter
WO2021219853A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Threaded cannula depth limiter
US11559329B2 (en) 2020-05-01 2023-01-24 Cilag Gmbh International Balancing feature for reusable trocar
WO2021219868A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Two-piece separable obturator
WO2021219858A1 (en) 2020-05-01 2021-11-04 Cilag Gmbh International Universal size multi-walled elastomer cannula depth limiter
US11838493B2 (en) 2020-05-08 2023-12-05 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11839435B2 (en) 2020-05-08 2023-12-12 Globus Medical, Inc. Extended reality headset tool tracking and control
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11191537B1 (en) 2020-05-12 2021-12-07 Covidien Lp Stapling device with continuously parallel jaws
US11832815B2 (en) 2020-05-12 2023-12-05 Covidien Lp Stapling device with continuously parallel jaws
US11406387B2 (en) 2020-05-12 2022-08-09 Covidien Lp Surgical stapling device with replaceable staple cartridge
US11653925B2 (en) 2020-05-21 2023-05-23 Covidien Lp Tissue relaxation monitoring for optimized tissue stapling
US11547405B2 (en) 2020-05-22 2023-01-10 Covidien Lp Surgical stapling device
US11534167B2 (en) 2020-05-28 2022-12-27 Covidien Lp Electrotaxis-conducive stapling
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
US11766256B2 (en) 2020-06-08 2023-09-26 Covidien Lp Surgical stapling device with parallel jaw closure
US11191538B1 (en) 2020-06-08 2021-12-07 Covidien Lp Surgical stapling device with parallel jaw closure
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11844517B2 (en) 2020-06-25 2023-12-19 Covidien Lp Linear stapling device with continuously parallel jaws
US11324500B2 (en) 2020-06-30 2022-05-10 Covidien Lp Surgical stapling device
US11517305B2 (en) 2020-07-09 2022-12-06 Covidien Lp Contoured staple pusher
US11446028B2 (en) 2020-07-09 2022-09-20 Covidien Lp Tool assembly with pivotable clamping beam
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11553921B2 (en) 2020-07-15 2023-01-17 Covidien Lp Surgical stapling device with flexible shaft
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11883024B2 (en) 2020-07-28 2024-01-30 Cilag Gmbh International Method of operating a surgical instrument
US11826013B2 (en) 2020-07-28 2023-11-28 Cilag Gmbh International Surgical instruments with firing member closure features
US11864756B2 (en) 2020-07-28 2024-01-09 Cilag Gmbh International Surgical instruments with flexible ball chain drive arrangements
US11638582B2 (en) 2020-07-28 2023-05-02 Cilag Gmbh International Surgical instruments with torsion spine drive arrangements
US11737748B2 (en) 2020-07-28 2023-08-29 Cilag Gmbh International Surgical instruments with double spherical articulation joints with pivotable links
US11857182B2 (en) 2020-07-28 2024-01-02 Cilag Gmbh International Surgical instruments with combination function articulation joint arrangements
US11871925B2 (en) 2020-07-28 2024-01-16 Cilag Gmbh International Surgical instruments with dual spherical articulation joint arrangements
US11660090B2 (en) 2020-07-28 2023-05-30 Cllag GmbH International Surgical instruments with segmented flexible drive arrangements
US11266402B2 (en) 2020-07-30 2022-03-08 Covidien Lp Sensing curved tip for surgical stapling instruments
US11849942B2 (en) 2020-07-30 2023-12-26 Covidien Lp Sensing curved tip for surgical stapling instruments
WO2022024055A1 (en) 2020-07-31 2022-02-03 Cilag Gmbh International Features to enhance staple height consistency in curved surgical stapler
US11432815B2 (en) 2020-07-31 2022-09-06 Cilag Gmbh International Features to enhance staple height consistency in curved surgical stapler
US11439392B2 (en) 2020-08-03 2022-09-13 Covidien Lp Surgical stapling device and fastener for pathological exam
US11395654B2 (en) 2020-08-07 2022-07-26 Covidien Lp Surgical stapling device with articulation braking assembly
US11627966B2 (en) 2020-08-26 2023-04-18 Covidien Lp Surgical stapling device
US11602342B2 (en) 2020-08-27 2023-03-14 Covidien Lp Surgical stapling device with laser probe
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11678878B2 (en) 2020-09-16 2023-06-20 Covidien Lp Articulation mechanism for surgical stapling device
US11801054B2 (en) 2020-09-22 2023-10-31 Covidien Lp Surgical stapler with oval tool assembly
US11890122B2 (en) 2020-09-24 2024-02-06 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal c-arm movement
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11510669B2 (en) 2020-09-29 2022-11-29 Covidien Lp Hand-held surgical instruments
US11660092B2 (en) 2020-09-29 2023-05-30 Covidien Lp Adapter for securing loading units to handle assemblies of surgical stapling instruments
US11712509B2 (en) 2020-10-02 2023-08-01 Covidien Lp Seal assembly for circular stapling instrument
US11406384B2 (en) 2020-10-05 2022-08-09 Covidien Lp Stapling device with drive assembly stop member
US11576674B2 (en) 2020-10-06 2023-02-14 Covidien Lp Surgical stapling device with articulation lock assembly
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
USD1018577S1 (en) 2020-11-11 2024-03-19 Cilag Gmbh International Display screen or portion thereof with a graphical user interface for a surgical instrument
US11890007B2 (en) 2020-11-18 2024-02-06 Covidien Lp Stapling device with flex cable and tensioning mechanism
USD961081S1 (en) 2020-11-18 2022-08-16 Crossroads Extremity Systems, Llc Orthopedic implant
US11627967B2 (en) 2020-11-23 2023-04-18 Covidien Lp Trans-anastomotic insertion device
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11737774B2 (en) 2020-12-04 2023-08-29 Covidien Lp Surgical instrument with articulation assembly
US11819200B2 (en) 2020-12-15 2023-11-21 Covidien Lp Surgical instrument with articulation assembly
WO2022137080A1 (en) 2020-12-21 2022-06-30 Cilag Gmbh International Dynamic trocar positioning for robotic surgical system
US11553914B2 (en) 2020-12-22 2023-01-17 Covidien Lp Surgical stapling device with parallel jaw closure
US11759206B2 (en) 2021-01-05 2023-09-19 Covidien Lp Surgical stapling device with firing lockout mechanism
US11744582B2 (en) 2021-01-05 2023-09-05 Covidien Lp Surgical stapling device with firing lockout mechanism
US11931034B2 (en) 2021-01-12 2024-03-19 Cilag Gmbh International Surgical stapling instruments with smart staple cartridges
US11877750B2 (en) 2021-01-21 2024-01-23 Covidien Lp Surgical stapler with powered and manual functions
US11759207B2 (en) 2021-01-27 2023-09-19 Covidien Lp Surgical stapling apparatus with adjustable height clamping member
US11517313B2 (en) 2021-01-27 2022-12-06 Covidien Lp Surgical stapling device with laminated drive member
US11786241B2 (en) 2021-02-16 2023-10-17 Covidien Lp Surgical stapling device including a hydraulic staple formation mechanism
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11717300B2 (en) 2021-03-11 2023-08-08 Covidien Lp Surgical stapling apparatus with integrated visualization
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11452574B1 (en) 2021-03-23 2022-09-27 Standard Bariatrics, Inc. Systems and methods for preventing tissue migration in surgical staplers
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11497495B2 (en) 2021-03-31 2022-11-15 Covidien Lp Continuous stapler strip for use with a surgical stapling device
US11666330B2 (en) 2021-04-05 2023-06-06 Covidien Lp Surgical stapling device with lockout mechanism
US11553920B2 (en) 2021-05-03 2023-01-17 Covidien Lp Trocar retainer assembly for surgical stapler
US11576670B2 (en) 2021-05-06 2023-02-14 Covidien Lp Surgical stapling device with optimized drive assembly
US11490894B1 (en) 2021-05-12 2022-11-08 Covidien Lp Surgical device with grease filter
US11642131B2 (en) 2021-05-17 2023-05-09 Covidien Lp Devices and methods for shortening a rectal stump during a lower anterior resection procedure
US11812956B2 (en) 2021-05-18 2023-11-14 Covidien Lp Dual firing radial stapling device
US11696755B2 (en) 2021-05-19 2023-07-11 Covidien Lp Surgical stapling device with reload assembly removal lockout
US11612400B2 (en) 2021-05-24 2023-03-28 Covidien Lp Trocar assembly with bearing assembly for load sharing
US11771423B2 (en) 2021-05-25 2023-10-03 Covidien Lp Powered stapling device with manual retraction
US11510673B1 (en) 2021-05-25 2022-11-29 Covidien Lp Powered stapling device with manual retraction
US11701119B2 (en) 2021-05-26 2023-07-18 Covidien Lp Powered stapling device with rack release
US11826047B2 (en) 2021-05-28 2023-11-28 Cilag Gmbh International Stapling instrument comprising jaw mounts
US11918217B2 (en) 2021-05-28 2024-03-05 Cilag Gmbh International Stapling instrument comprising a staple cartridge insertion stop
US11723662B2 (en) 2021-05-28 2023-08-15 Cilag Gmbh International Stapling instrument comprising an articulation control display
US11576675B2 (en) 2021-06-07 2023-02-14 Covidien Lp Staple cartridge with knife
US11707275B2 (en) 2021-06-29 2023-07-25 Covidien Lp Asymmetrical surgical stapling device
US11617579B2 (en) 2021-06-29 2023-04-04 Covidien Lp Ultra low profile surgical stapling instrument for tissue resections
US11602344B2 (en) 2021-06-30 2023-03-14 Covidien Lp Surgical stapling apparatus with firing lockout assembly
US11850009B2 (en) 2021-07-06 2023-12-26 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
WO2023281459A1 (en) 2021-07-09 2023-01-12 Cilag Gmbh International Cartridge retention features for curved surgical stapler
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
US11622794B2 (en) 2021-07-22 2023-04-11 Globus Medical, Inc. Screw tower and rod reduction tool
US11737759B2 (en) 2021-08-05 2023-08-29 Covidien Lp Surgical stapling device accommodating prolapsed tissue
US11540831B1 (en) 2021-08-12 2023-01-03 Covidien Lp Staple cartridge with actuation sled detection
US11931027B2 (en) 2021-08-16 2024-03-19 Cilag Gmbh Interntional Surgical instrument comprising an adaptive control system
US11779334B2 (en) 2021-08-19 2023-10-10 Covidien Lp Surgical stapling device including a manual retraction assembly
US11707277B2 (en) 2021-08-20 2023-07-25 Covidien Lp Articulating surgical stapling apparatus with pivotable knife bar guide assembly
US11576671B1 (en) 2021-08-20 2023-02-14 Covidien Lp Small diameter linear surgical stapling apparatus
US11896220B2 (en) 2021-08-20 2024-02-13 Covidien Lp Small diameter linear surgical stapling apparatus
US11883028B2 (en) 2021-09-08 2024-01-30 Covidien Lp Systems and methods for post-operative anastomotic leak detection
US11864761B2 (en) 2021-09-14 2024-01-09 Covidien Lp Surgical instrument with illumination mechanism
US11660094B2 (en) 2021-09-29 2023-05-30 Covidien Lp Surgical fastening instrument with two-part surgical fasteners
US11653922B2 (en) 2021-09-29 2023-05-23 Covidien Lp Surgical stapling device with firing lockout mechanism
US11849949B2 (en) 2021-09-30 2023-12-26 Covidien Lp Surgical stapling device with firing lockout member
US11717299B2 (en) 2021-10-12 2023-08-08 Covidien Lp Surgical stapling device with probiotics
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11918304B2 (en) 2021-12-20 2024-03-05 Globus Medical, Inc Flat panel registration fixture and method of using same
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
US11931028B2 (en) 2022-02-03 2024-03-19 Cilag Gmbh International Surgical instrument with multiple program responses during a firing motion
US11931036B2 (en) 2022-05-03 2024-03-19 Covidien Lp Loading unit for surgical instruments with low profile pushers
US11931031B2 (en) 2022-05-27 2024-03-19 Cilag Gmbh International Staple cartridge comprising a deck including an upper surface and a lower surface
US11931038B2 (en) 2022-10-03 2024-03-19 Cilag Gmbh International Cartridge assemblies for surgical staplers

Also Published As

Publication number Publication date
US20120138660A1 (en) 2012-06-07

Similar Documents

Publication Publication Date Title
US11134947B2 (en) Fastener cartridge assembly comprising a camming sled with variable cam arrangements
US8800838B2 (en) Robotically-controlled cable-based surgical end effectors
US20210290236A1 (en) Detachable motor powered surgical instrument

Legal Events

Date Code Title Description
AS Assignment

Owner name: ETHICON ENDO-SURGERY, INC., OHIO

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SHELTON, FREDERICK E., IV;REEL/FRAME:027750/0139

Effective date: 20110613

STCF Information on status: patent grant

Free format text: PATENTED CASE

AS Assignment

Owner name: ETHICON ENDO-SURGERY, LLC, PUERTO RICO

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ETHICON ENDO-SURGERY, INC.;REEL/FRAME:037220/0212

Effective date: 20151106

AS Assignment

Owner name: ETHICON LLC, PUERTO RICO

Free format text: CHANGE OF NAME;ASSIGNOR:ETHICON ENDO-SURGERY, LLC;REEL/FRAME:041821/0186

Effective date: 20161230

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551)

Year of fee payment: 4

AS Assignment

Owner name: CILAG GMBH INTERNATIONAL, SWITZERLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:ETHICON LLC;REEL/FRAME:056601/0339

Effective date: 20210405

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 8